Pub Date : 2015-04-09DOI: 10.1109/RASM.2015.7154637
N. Sharma, Satnesh Singh, S. Janardhanan
Discrete-time sliding mode is inherently discontinuous in nature. But a relaxed version of continuity can be provided with the help of continuity in discrete sets. In this paper, a definition of higher order sliding mode in discrete-time systems using the concept of relaxed version of continuity in discrete-sets, (p,q)-continuity, is proposed. Moreover, a generalized relationship between sliding order and (p,q)-continuity is defined as the order of the continuity. These definitions facilitates to define ideal sliding and real sliding in arbitrary order discrete-time sliding mode based on (p,q)-continuity concept. Finally, for validation of definitions introduced in this paper, some existing first-order and second-order discrete-time sliding mode control algorithms are used.
{"title":"Continuity and order of continuity in discrete-time higher order sliding mode","authors":"N. Sharma, Satnesh Singh, S. Janardhanan","doi":"10.1109/RASM.2015.7154637","DOIUrl":"https://doi.org/10.1109/RASM.2015.7154637","url":null,"abstract":"Discrete-time sliding mode is inherently discontinuous in nature. But a relaxed version of continuity can be provided with the help of continuity in discrete sets. In this paper, a definition of higher order sliding mode in discrete-time systems using the concept of relaxed version of continuity in discrete-sets, (p,q)-continuity, is proposed. Moreover, a generalized relationship between sliding order and (p,q)-continuity is defined as the order of the continuity. These definitions facilitates to define ideal sliding and real sliding in arbitrary order discrete-time sliding mode based on (p,q)-continuity concept. Finally, for validation of definitions introduced in this paper, some existing first-order and second-order discrete-time sliding mode control algorithms are used.","PeriodicalId":297041,"journal":{"name":"2015 International Workshop on Recent Advances in Sliding Modes (RASM)","volume":"24 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":"121542606","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.2015.7154654
S. Tokat, Osman Eray
Sliding surface translation that has been defined using angular information as a linear function of time provides an equally spaced rotation of the sliding surface and a smoother control under predefined error state constraints. In this study, second order single-input non-autonomous dynamic open-loop systems will be considered and a higher order polynomial will be used to define the time-varying structure of the angular information. Then, it will be shown via simulations that different phase plane trajectories could be obtained with the proposed method. For the simulations, the trajectory tracking problem will be considered. Then, the same phase plane characteristics obtained using a continuously time-varying linear sliding surface design method selected from the literature will be directly obtained by assigning the polynomial coefficients of the angular sliding surface.
{"title":"Using polynomial functions for a time varying sliding surface with angular information","authors":"S. Tokat, Osman Eray","doi":"10.1109/RASM.2015.7154654","DOIUrl":"https://doi.org/10.1109/RASM.2015.7154654","url":null,"abstract":"Sliding surface translation that has been defined using angular information as a linear function of time provides an equally spaced rotation of the sliding surface and a smoother control under predefined error state constraints. In this study, second order single-input non-autonomous dynamic open-loop systems will be considered and a higher order polynomial will be used to define the time-varying structure of the angular information. Then, it will be shown via simulations that different phase plane trajectories could be obtained with the proposed method. For the simulations, the trajectory tracking problem will be considered. Then, the same phase plane characteristics obtained using a continuously time-varying linear sliding surface design method selected from the literature will be directly obtained by assigning the polynomial coefficients of the angular sliding surface.","PeriodicalId":297041,"journal":{"name":"2015 International Workshop on Recent Advances in Sliding Modes (RASM)","volume":"52 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":"121873485","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.2015.7154592
S. Boudoua, M. Hamerlain, F. Hamerlain
In this note we present a novel intelligent twisting sliding mode controller using neural network, achieving chatter reduction for the control of pneumatic artificial muscles robot arm. The system is highly non-linear and somehow difficult to model therefore resorting to robust control is required. Thanks to their property as universal approximators, in this work a two layer NN with on line adaptive learning law is used to reconstruct unknown and unmodeled robot dynamics, and the realisation of a two sliding mode is achieved through the design of a nonlinear sliding surface. The stability of the overall system is guaranteed by lyapunov method. Experimental results are presented and discussed.
{"title":"Intelligent twisting sliding mode controller using neural network for pneumatic artificial muscles robot arm","authors":"S. Boudoua, M. Hamerlain, F. Hamerlain","doi":"10.1109/RASM.2015.7154592","DOIUrl":"https://doi.org/10.1109/RASM.2015.7154592","url":null,"abstract":"In this note we present a novel intelligent twisting sliding mode controller using neural network, achieving chatter reduction for the control of pneumatic artificial muscles robot arm. The system is highly non-linear and somehow difficult to model therefore resorting to robust control is required. Thanks to their property as universal approximators, in this work a two layer NN with on line adaptive learning law is used to reconstruct unknown and unmodeled robot dynamics, and the realisation of a two sliding mode is achieved through the design of a nonlinear sliding surface. The stability of the overall system is guaranteed by lyapunov method. Experimental results are presented and discussed.","PeriodicalId":297041,"journal":{"name":"2015 International Workshop on Recent Advances in Sliding Modes (RASM)","volume":"07 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":"127286126","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.2015.7154591
M. Basin, P. Rodriguez-Ramirez, S. Ding, S. Dominic
This paper presents a nonhomogeneous continuous super-twisting algorithm for systems of relative degree more than one. The conditions of finite-time convergence to the origin are obtained and the robustness of the designed algorithm is discussed. The paper concludes with numerical simulations illustrating performance of the designed algorithms.
{"title":"A nonhomogeneous finite-time convergent super-twisting algorithm","authors":"M. Basin, P. Rodriguez-Ramirez, S. Ding, S. Dominic","doi":"10.1109/RASM.2015.7154591","DOIUrl":"https://doi.org/10.1109/RASM.2015.7154591","url":null,"abstract":"This paper presents a nonhomogeneous continuous super-twisting algorithm for systems of relative degree more than one. The conditions of finite-time convergence to the origin are obtained and the robustness of the designed algorithm is discussed. 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":"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":"129441669","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.2015.7154644
A. Baccoli, Y. Orlov, A. Pisano, E. Usai
We study the stabilization problem in the space L2(0, 1) for a class of parabolic PDEs of the reaction-diffusion type equipped with destabilizing Robin-type boundary conditions. The considered class of PDEs is also affected by a matching boundary disturbance with an a-priori known constant upperbound to its magnitude. The problem is solved by means of a suitable synergic combination between the infinite-dimensional backstepping methodology and the sliding mode control approach. A constructive Lyapunov analysis supports the presented synthesis, and simulation results validate the developed technique.
{"title":"Sliding-mode boundary control of a class of perturbed reaction-diffusion processes","authors":"A. Baccoli, Y. Orlov, A. Pisano, E. Usai","doi":"10.1109/RASM.2015.7154644","DOIUrl":"https://doi.org/10.1109/RASM.2015.7154644","url":null,"abstract":"We study the stabilization problem in the space L2(0, 1) for a class of parabolic PDEs of the reaction-diffusion type equipped with destabilizing Robin-type boundary conditions. The considered class of PDEs is also affected by a matching boundary disturbance with an a-priori known constant upperbound to its magnitude. The problem is solved by means of a suitable synergic combination between the infinite-dimensional backstepping methodology and the sliding mode control approach. A constructive Lyapunov analysis supports the presented synthesis, and simulation results validate the developed technique.","PeriodicalId":297041,"journal":{"name":"2015 International Workshop on Recent Advances in Sliding Modes (RASM)","volume":"7 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":"129861494","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.2015.7154585
Ning Sun, Yongchun Fang, He Chen
For practical mechanical systems, including inertia wheel pendulums, they unavoidably suffer from the unexpected influences brought about by frictions and extraneous disturbances. Hence, it is essential for the developed control approach to be capable of overcoming these unfavorable factors. In the present paper, we consider the problem of controlling underactuated inertia wheel pendulum systems in the presence of parametrical uncertainties and external disturbances. To this end, we present a novel robust sliding mode control (SMC) law without linearizing the original dynamics. More precisely, the system dynamics are first transformed, via several coordinate changes, into a quasi-chained form. Based on this, we construct a new sliding manifold, on which the state variables vanish asymptotically towards the equilibrium point. Then, a nonlinear controller is presented to keep the system state always staying on the fabricated sliding manifold. Lyapunov-based analysis, without performing any linearizations/approximations to the nonlinear dynamics, is provided to demonstrate that the equilibrium point of the closed-loop system is asymptotically stable. We include a series of numerical simulation results to examine its superior performance and strong robustness against uncertainties and extraneous disturbances.
{"title":"A Novel sliding mode control method for an inertia wheel pendulum system","authors":"Ning Sun, Yongchun Fang, He Chen","doi":"10.1109/RASM.2015.7154585","DOIUrl":"https://doi.org/10.1109/RASM.2015.7154585","url":null,"abstract":"For practical mechanical systems, including inertia wheel pendulums, they unavoidably suffer from the unexpected influences brought about by frictions and extraneous disturbances. Hence, it is essential for the developed control approach to be capable of overcoming these unfavorable factors. In the present paper, we consider the problem of controlling underactuated inertia wheel pendulum systems in the presence of parametrical uncertainties and external disturbances. To this end, we present a novel robust sliding mode control (SMC) law without linearizing the original dynamics. More precisely, the system dynamics are first transformed, via several coordinate changes, into a quasi-chained form. Based on this, we construct a new sliding manifold, on which the state variables vanish asymptotically towards the equilibrium point. Then, a nonlinear controller is presented to keep the system state always staying on the fabricated sliding manifold. Lyapunov-based analysis, without performing any linearizations/approximations to the nonlinear dynamics, is provided to demonstrate that the equilibrium point of the closed-loop system is asymptotically stable. We include a series of numerical simulation results to examine its superior performance and strong robustness against uncertainties and extraneous disturbances.","PeriodicalId":297041,"journal":{"name":"2015 International Workshop on Recent Advances in Sliding Modes (RASM)","volume":"383 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":"133480774","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.2015.7154651
Choucha Abdelghani, Chaib Lakhdar, Arif Salem, Bougrine Med Djameleddine, M. Lakhdar
In this paper, Power System Stabilizer (PSS) based on hybrid Sliding Mode Controller (SMC) and fractional order PID controller (PIλDμ) is proposed for optimal control of power system, using a new metaheuristic optimization Bat algorithm (BA) inspired by the echolocation behavior to improve power system stability. The aim of this study is to find robust controller for demonstrating the availability of the proposed controller, and to achieve best desired output. Here, we have chosen SMC as one of the most effective control methodologies for adjusting the states of the system to their preferred values to supply the excellent damping under severe disturbances. The problem of SMC-FOPID design is transformed to an optimization problem based on performance index, which is Integral of the Time Weighted Absolute Error (ITAE). Where, BA has been employed to adjust the optimal controller parameters. The effectiveness of SMC-FOPID has been tested on a Single Machine Infinite Bus (SMIB) power system under different cases, including operating. The performance of SMC-FOPID controller in power system is compared with a conventional PSS. The simulation results greatly indicate the validity and effectiveness of the proposed controller, and superior robust performance for improvement power system stability compared with the PSS controller for each case.
{"title":"Robust design of fractional order PID Sliding Mode based Power System Stabilizer in a power system via a new metaheuristic Bat algorithm","authors":"Choucha Abdelghani, Chaib Lakhdar, Arif Salem, Bougrine Med Djameleddine, M. Lakhdar","doi":"10.1109/RASM.2015.7154651","DOIUrl":"https://doi.org/10.1109/RASM.2015.7154651","url":null,"abstract":"In this paper, Power System Stabilizer (PSS) based on hybrid Sliding Mode Controller (SMC) and fractional order PID controller (PIλDμ) is proposed for optimal control of power system, using a new metaheuristic optimization Bat algorithm (BA) inspired by the echolocation behavior to improve power system stability. The aim of this study is to find robust controller for demonstrating the availability of the proposed controller, and to achieve best desired output. Here, we have chosen SMC as one of the most effective control methodologies for adjusting the states of the system to their preferred values to supply the excellent damping under severe disturbances. The problem of SMC-FOPID design is transformed to an optimization problem based on performance index, which is Integral of the Time Weighted Absolute Error (ITAE). Where, BA has been employed to adjust the optimal controller parameters. The effectiveness of SMC-FOPID has been tested on a Single Machine Infinite Bus (SMIB) power system under different cases, including operating. The performance of SMC-FOPID controller in power system is compared with a conventional PSS. The simulation results greatly indicate the validity and effectiveness of the proposed controller, and superior robust performance for improvement power system stability compared with the PSS controller for each case.","PeriodicalId":297041,"journal":{"name":"2015 International Workshop on Recent Advances in Sliding Modes (RASM)","volume":"22 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":"121283996","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.2015.7154636
Fang Li, Ye Peiqing, Hui Zhang
Traditional learning variable structure control (LVSC) synthesizes variable structure control (VSC) as the robust part and learning control (LC) as the intelligent part to improve tracking performance for repeatable tracking control tasks. However, it can only deal with the cases with one periodic disturbance. In this paper, an improved learning variable structure control (ILVSC) method is proposed, aiming at rejecting multi-periodic disturbances with uncorrelated frequencies. In particular, the learning law is redesigned to be able to separate and approximate any of the multi-periodic disturbances in an efficient way. The stability analysis of the control system is provided. The simulations of the algorithm are presented to validate its effectiveness.
{"title":"An improved learning variable structure control method for multi-periodic disturbances rejection","authors":"Fang Li, Ye Peiqing, Hui Zhang","doi":"10.1109/RASM.2015.7154636","DOIUrl":"https://doi.org/10.1109/RASM.2015.7154636","url":null,"abstract":"Traditional learning variable structure control (LVSC) synthesizes variable structure control (VSC) as the robust part and learning control (LC) as the intelligent part to improve tracking performance for repeatable tracking control tasks. However, it can only deal with the cases with one periodic disturbance. In this paper, an improved learning variable structure control (ILVSC) method is proposed, aiming at rejecting multi-periodic disturbances with uncorrelated frequencies. In particular, the learning law is redesigned to be able to separate and approximate any of the multi-periodic disturbances in an efficient way. The stability analysis of the control system is provided. The simulations of the algorithm are presented to validate its effectiveness.","PeriodicalId":297041,"journal":{"name":"2015 International Workshop on Recent Advances in Sliding Modes (RASM)","volume":"56 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":"126515477","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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：