Pub Date : 2015-04-09DOI: 10.1109/RASM.2015.7154580
Anet J. N. Anelone, Y. Orlov, S. Spurgeon
This paper argues that strong synergies exist between the Variable Structure Control (VSC) paradigm and the dynamical behaviour of the immune response of T cells following vigorous infection. Sharp changes in T cell population kinetics in response to an infection have been revealed by experimental studies. Striking similarities are shown to exist between the phase portrait of a classical VSCS and the phase portrait of an accurate model of the T cell response with an on/off activation function. The robustness properties of the T cell response dynamics described in current experimental and mathematical studies are evaluated using Lyapanov stability theory and numerical simulations. The findings demonstrate that the T cell dynamics following vigorous infection behave as a closed-loop system under variable structure control. This control law effectively determines the immunological control structure and the metabolic energy regime required to ensure that the dynamics of the responding T cells maintain a healthy state. The VSC paradigm thus provides a mechanism to understand the transition from health to disease.
{"title":"Synergies between the dynamics of the immune response of T cells and the variable structure control paradigm","authors":"Anet J. N. Anelone, Y. Orlov, S. Spurgeon","doi":"10.1109/RASM.2015.7154580","DOIUrl":"https://doi.org/10.1109/RASM.2015.7154580","url":null,"abstract":"This paper argues that strong synergies exist between the Variable Structure Control (VSC) paradigm and the dynamical behaviour of the immune response of T cells following vigorous infection. Sharp changes in T cell population kinetics in response to an infection have been revealed by experimental studies. Striking similarities are shown to exist between the phase portrait of a classical VSCS and the phase portrait of an accurate model of the T cell response with an on/off activation function. The robustness properties of the T cell response dynamics described in current experimental and mathematical studies are evaluated using Lyapanov stability theory and numerical simulations. The findings demonstrate that the T cell dynamics following vigorous infection behave as a closed-loop system under variable structure control. This control law effectively determines the immunological control structure and the metabolic energy regime required to ensure that the dynamics of the responding T cells maintain a healthy state. The VSC paradigm thus provides a mechanism to understand the transition from health to disease.","PeriodicalId":297041,"journal":{"name":"2015 International Workshop on Recent Advances in Sliding Modes (RASM)","volume":"1 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":"129629008","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.2015.7154583
J. Senanayaka, H. Karimi, K. Robbersmyr
Small wind turbines are becoming an attractive solution for household applications. These micro generation units can be used as standalone applications or grid connected applications. However to get the full potential benefits of these wind turbines, systems should be low cost and reliable. Introducing the wind speed and rotor speed sensors at the generator shaft may reduce the reliability of small wind turbines. In this study, a grid connected sensor-less 5 kW small wind energy conversion system has been studied. The maximum power point tracking method of the wind turbine is totally independent from wind speed and rotor speed measurements. Optimum rotor speed and actual rotor speed are estimated using output current and voltage of the generator. To estimate the optimum rotor speed of the wind turbine, power signal feedback method has been used. Moreover, a sliding-mode observer is designed to estimate the rotor speed. Performance of the sliding-mode observer system has been compared with the measured rotor speed based wind energy conversion system. The simulation results show the effectiveness of the proposed sensor-less control system for the system under consideration.
{"title":"Sliding-mode observer based sensor-less control of a small wind energy conversion system","authors":"J. Senanayaka, H. Karimi, K. Robbersmyr","doi":"10.1109/RASM.2015.7154583","DOIUrl":"https://doi.org/10.1109/RASM.2015.7154583","url":null,"abstract":"Small wind turbines are becoming an attractive solution for household applications. These micro generation units can be used as standalone applications or grid connected applications. However to get the full potential benefits of these wind turbines, systems should be low cost and reliable. Introducing the wind speed and rotor speed sensors at the generator shaft may reduce the reliability of small wind turbines. In this study, a grid connected sensor-less 5 kW small wind energy conversion system has been studied. The maximum power point tracking method of the wind turbine is totally independent from wind speed and rotor speed measurements. Optimum rotor speed and actual rotor speed are estimated using output current and voltage of the generator. To estimate the optimum rotor speed of the wind turbine, power signal feedback method has been used. Moreover, a sliding-mode observer is designed to estimate the rotor speed. Performance of the sliding-mode observer system has been compared with the measured rotor speed based wind energy conversion system. The simulation results show the effectiveness of the proposed sensor-less control system for the system under consideration.","PeriodicalId":297041,"journal":{"name":"2015 International Workshop on Recent Advances in Sliding Modes (RASM)","volume":"1 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":"128298888","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.2015.7154590
T. Yuksel
Closed loop control of robot manipulator's end effector pose with visual feedback is called as visual servoing (VS). As one of the approaches for VS, image-based visual servoing (IBVS) has the advantage of no pose estimation for commonly used eye-in-hand configured manipulators. VS aims to minimize the error derived from k feature points vector s in image feature space and it controls the velocity of the end effector from error signals. This velocity control is based on sliding mode control (SMC) with a fixed gain. Choice of an appropriate gain plays a critical role in the performance of this controller. This study is focused on varying gain for fast convergence with varying sliding slope approach. Computing gain using fuzzy logic that is an approach in fuzzy SMC is proposed.
{"title":"IBVS with fuzzy sliding mode for robot manipulators","authors":"T. Yuksel","doi":"10.1109/RASM.2015.7154590","DOIUrl":"https://doi.org/10.1109/RASM.2015.7154590","url":null,"abstract":"Closed loop control of robot manipulator's end effector pose with visual feedback is called as visual servoing (VS). As one of the approaches for VS, image-based visual servoing (IBVS) has the advantage of no pose estimation for commonly used eye-in-hand configured manipulators. VS aims to minimize the error derived from k feature points vector s in image feature space and it controls the velocity of the end effector from error signals. This velocity control is based on sliding mode control (SMC) with a fixed gain. Choice of an appropriate gain plays a critical role in the performance of this controller. This study is focused on varying gain for fast convergence with varying sliding slope approach. Computing gain using fuzzy logic that is an approach in fuzzy SMC is proposed.","PeriodicalId":297041,"journal":{"name":"2015 International Workshop on Recent Advances in Sliding Modes (RASM)","volume":"28 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":"121320129","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.2015.7154652
M. Zeinali
This paper presents design and implementation of a novel adaptive chattering-free sliding mode control (ACFSMC) scheme and its application to motion control of robot manipulators. Due to the presence of complex phenomena such as large flexibility, model uncertainties, and external disturbances a robust and adaptive control is required to control the motion of the robots. This paper presents the design of an adaptive chattering-free sliding mode control using two adaptation mechanism namely: a fast and performance-based online estimation of uncertainties, which is constructed based on the dynamic behaviour of a sliding function; and an adaptive fuzzy model of the robot, which is constructed using a systematic fuzzy modelling method and from input-output data of the robot through system identification. These two adaptation mechanism can be interpreted as the integration of fast response to immediate feedback information and the response based on the knowledge that has already been built into the fuzzy model of the controller, which is the model-based component of the ACFSMC. The global stability and robustness of the proposed controller are established using Lyapunov's approach and fundamentals of sliding mode theory. Based on the simulations and experimental results, the proposed controller performs remarkably well in comparison to SMC with boundary layer and the high gain proportional-integral-derivative (PID) controllers in terms of the tracking error convergence and robustness against uncertainties.
{"title":"Adaptive chattering-free sliding mode control design using fuzzy model of the system and estimated uncertainties and its application to robot manipulators","authors":"M. Zeinali","doi":"10.1109/RASM.2015.7154652","DOIUrl":"https://doi.org/10.1109/RASM.2015.7154652","url":null,"abstract":"This paper presents design and implementation of a novel adaptive chattering-free sliding mode control (ACFSMC) scheme and its application to motion control of robot manipulators. Due to the presence of complex phenomena such as large flexibility, model uncertainties, and external disturbances a robust and adaptive control is required to control the motion of the robots. This paper presents the design of an adaptive chattering-free sliding mode control using two adaptation mechanism namely: a fast and performance-based online estimation of uncertainties, which is constructed based on the dynamic behaviour of a sliding function; and an adaptive fuzzy model of the robot, which is constructed using a systematic fuzzy modelling method and from input-output data of the robot through system identification. These two adaptation mechanism can be interpreted as the integration of fast response to immediate feedback information and the response based on the knowledge that has already been built into the fuzzy model of the controller, which is the model-based component of the ACFSMC. The global stability and robustness of the proposed controller are established using Lyapunov's approach and fundamentals of sliding mode theory. Based on the simulations and experimental results, the proposed controller performs remarkably well in comparison to SMC with boundary layer and the high gain proportional-integral-derivative (PID) controllers in terms of the tracking error convergence and robustness against uncertainties.","PeriodicalId":297041,"journal":{"name":"2015 International Workshop on Recent Advances in Sliding Modes (RASM)","volume":"39 5 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":"116416687","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.2015.7154647
S. Kochetkov, S. Krasnova, Yu. M. Rassadin, V. Utkin
One of the algorithms of the second order sliding mode is considered under the action of external bounded and smooth disturbances. A distinctive feature of the proposed feedback is that the differential equation of the closed system is not homogeneous. A final proof of convergence for such systems is given under assumption that the disturbances are acting in the control channels only. By using the new algorithm control system was made able to give the final convergence property by using a lower control resources.
{"title":"The new second order sliding mode algorithm and convergence proof","authors":"S. Kochetkov, S. Krasnova, Yu. M. Rassadin, V. Utkin","doi":"10.1109/RASM.2015.7154647","DOIUrl":"https://doi.org/10.1109/RASM.2015.7154647","url":null,"abstract":"One of the algorithms of the second order sliding mode is considered under the action of external bounded and smooth disturbances. A distinctive feature of the proposed feedback is that the differential equation of the closed system is not homogeneous. A final proof of convergence for such systems is given under assumption that the disturbances are acting in the control channels only. By using the new algorithm control system was made able to give the final convergence property by using a lower control resources.","PeriodicalId":297041,"journal":{"name":"2015 International Workshop on Recent Advances in Sliding Modes (RASM)","volume":"120 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":"128099569","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.2015.7154587
Y. Kali, M. Saad, K. Benjelloun, M. Benbrahim
In this paper, the control problem of Multi-Input Multi-Output (MIMO) nonlinear Systems with unknown dynamics is proposed. A novel method based on the Sliding Mode with Time Delay Control (SMTDC) is proposed by combining a Sliding Mode Control (SMC) with saturation (sat) function and Time Delay Control (TDC). This method (SMTDC), allows chattering reduction on control inputs and estimates the amounts of unknown or unmodeled nonlinear dynamics and unexpected uncertainties and cancels them. This algorithm was simulated on the model of the ANAT robot arm system to demonstrate the effectiveness of the proposed design method.
{"title":"Sliding Mode with Time Delay Control for MIMO nonlinear Systems With unknown dynamics","authors":"Y. Kali, M. Saad, K. Benjelloun, M. Benbrahim","doi":"10.1109/RASM.2015.7154587","DOIUrl":"https://doi.org/10.1109/RASM.2015.7154587","url":null,"abstract":"In this paper, the control problem of Multi-Input Multi-Output (MIMO) nonlinear Systems with unknown dynamics is proposed. A novel method based on the Sliding Mode with Time Delay Control (SMTDC) is proposed by combining a Sliding Mode Control (SMC) with saturation (sat) function and Time Delay Control (TDC). This method (SMTDC), allows chattering reduction on control inputs and estimates the amounts of unknown or unmodeled nonlinear dynamics and unexpected uncertainties and cancels them. This algorithm was simulated on the model of the ANAT robot arm system to demonstrate the effectiveness of the proposed design method.","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":"114780028","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.2015.7154648
Abhisek K. Behera, B. Bandyopadhyay
In this paper, an event based implementation of sliding mode control with quantized state measurements only is analysed. In many practical applications, the state information are available up to some finite precision. This indeed induces some quantization error into the system. However, in this work we consider the sampled state information are quantized measurements and the systems is subjected to both sampling (measurement) induced error and quantization error. The sample measurements are used in event condition. We also ensure that, there is no accumulation of triggering instants occur. Numerical simulations are provided to show effective of the above analysis.
{"title":"Event based sliding mode control with quantized measurement","authors":"Abhisek K. Behera, B. Bandyopadhyay","doi":"10.1109/RASM.2015.7154648","DOIUrl":"https://doi.org/10.1109/RASM.2015.7154648","url":null,"abstract":"In this paper, an event based implementation of sliding mode control with quantized state measurements only is analysed. In many practical applications, the state information are available up to some finite precision. This indeed induces some quantization error into the system. However, in this work we consider the sampled state information are quantized measurements and the systems is subjected to both sampling (measurement) induced error and quantization error. The sample measurements are used in event condition. We also ensure that, there is no accumulation of triggering instants occur. Numerical simulations are provided to show effective of the above analysis.","PeriodicalId":297041,"journal":{"name":"2015 International Workshop on Recent Advances in Sliding Modes (RASM)","volume":"5073 1 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":"117116251","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.2015.7154589
P. Leśniewski, A. Bartoszewicz
In this paper we consider the reaching law approach to the sliding mode control of discrete time systems. We present a reaching law based on the hyperbolic tangent trigonometric function. We begin by analyzing the case of nominal systems, and then extend the results to the problem of perturbed systems, that are subjected to disturbances and parameter uncertainties. We show, that for both scenarios the sliding mode controller designed according to the proposed reaching law enforces the quasi-sliding mode defined as changing the sign of the sliding variable in each consecutive control step, while maintaining its value in some a priori known vicinity of zero. We compare our solution to the most popular, constant plus proportional reaching law, and demonstrate, that it offers faster convergence and better robustness.
{"title":"Hyperbolic tangent based switching reaching law for discrete time sliding mode control of dynamical systems","authors":"P. Leśniewski, A. Bartoszewicz","doi":"10.1109/RASM.2015.7154589","DOIUrl":"https://doi.org/10.1109/RASM.2015.7154589","url":null,"abstract":"In this paper we consider the reaching law approach to the sliding mode control of discrete time systems. We present a reaching law based on the hyperbolic tangent trigonometric function. We begin by analyzing the case of nominal systems, and then extend the results to the problem of perturbed systems, that are subjected to disturbances and parameter uncertainties. We show, that for both scenarios the sliding mode controller designed according to the proposed reaching law enforces the quasi-sliding mode defined as changing the sign of the sliding variable in each consecutive control step, while maintaining its value in some a priori known vicinity of zero. We compare our solution to the most popular, constant plus proportional reaching law, and demonstrate, that it offers faster convergence and better robustness.","PeriodicalId":297041,"journal":{"name":"2015 International Workshop on Recent Advances in Sliding Modes (RASM)","volume":"58 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":"128165477","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.2015.7154635
D. Shah, A. Mehta
This paper presents a Dual Rate Output feedback Discrete-Time Networked Sliding Mode Controller (DNSMC) for the networked environment. The sliding surface and the sliding mode controller are modified to take care of two major constrains i.e. network induced delay and packet loss due to introduction of network between plant and controller. The compensators are introduced to compensate both the delays concurrently, namely from sensor to controller and controller to actuator. A probability function is used to estimate the packet loss and the states are observed implicitly by measuring the output at other rate than the input. The simulation results endows the robustness under the influence of the network induced constrains.
{"title":"Output feedback Discrete- Time Networked Sliding Mode Control","authors":"D. Shah, A. Mehta","doi":"10.1109/RASM.2015.7154635","DOIUrl":"https://doi.org/10.1109/RASM.2015.7154635","url":null,"abstract":"This paper presents a Dual Rate Output feedback Discrete-Time Networked Sliding Mode Controller (DNSMC) for the networked environment. The sliding surface and the sliding mode controller are modified to take care of two major constrains i.e. network induced delay and packet loss due to introduction of network between plant and controller. The compensators are introduced to compensate both the delays concurrently, namely from sensor to controller and controller to actuator. A probability function is used to estimate the packet loss and the states are observed implicitly by measuring the output at other rate than the input. The simulation results endows the robustness under the influence of the network induced constrains.","PeriodicalId":297041,"journal":{"name":"2015 International Workshop on Recent Advances in Sliding Modes (RASM)","volume":"25 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":"126692142","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.2015.7154638
S. Krasnova, V. Utkin
The paper deals with state observer design for nonlinear quasicanonical systems under the action of external disturbances without entering dynamic model of disturbances. Decomposition synthesis procedure of an observer with continuous smooth S-shaped corrective actions in the form of sigma-functions is designed. This observer provides estimation of unmeasured state variables and external bounded disturbances with any given accuracy. These algorithms are used in the control system of an induction motor under external disturbance with incomplete measurements.
{"title":"Prelimit implementation of states and disturbances observer on sliding modes","authors":"S. Krasnova, V. Utkin","doi":"10.1109/RASM.2015.7154638","DOIUrl":"https://doi.org/10.1109/RASM.2015.7154638","url":null,"abstract":"The paper deals with state observer design for nonlinear quasicanonical systems under the action of external disturbances without entering dynamic model of disturbances. Decomposition synthesis procedure of an observer with continuous smooth S-shaped corrective actions in the form of sigma-functions is designed. This observer provides estimation of unmeasured state variables and external bounded disturbances with any given accuracy. These algorithms are used in the control system of an induction motor under external disturbance with incomplete measurements.","PeriodicalId":297041,"journal":{"name":"2015 International Workshop on Recent Advances in Sliding Modes (RASM)","volume":"38 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":"132503844","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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