adaptive and sliding mode control

... robust control performance of adaptive backstepping control and sliding- mode control, many combined adaptive backstepping and sliding mode control schemes have appeared Although good robust control ... external perturbances 4.2 Adaptive Backstepping Sliding Mode Control With external disturbances and uncertain parameters, adaptive backstepping sliding mode control schemes are developed, which have ... analysed, and attitude motion is influenced seriously Moreover, the robust adaptive backstepping sliding mode control laws are proposed to compensate the uncertainties and perturbations and make

Ngày tải lên: 02/11/2022, 08:50

...  q f 648 (20) Modeling and sliding mode control for a single flexible manipulator when the system states on the sliding surface (19), s  so s  , exists and the equivalent control law is applied ... will be used in designing of a controller and in simulation CONTROLLER DESIGN In this section, a robust controller is designed by using sliding mode techniques The controller is applied for stabilizing ... slider Motion of the system is defined by motion of the slider z(t) and the flexible deformation w(x,t) 646 Modeling and sliding mode control for a single flexible manipulator In order to apply FEM

Ngày tải lên: 13/01/2020, 04:30

... con lắc ngược trên xe 8CHƯƠNG 3 :THIẾT KẾ BỘ ĐIỀU KHIỂN 101 Fast Terminal Sliding Mode Control 102 Adaptive Sliding Mode Control of Inverted Pendulum 10CHƯƠNG 4: MÔ PHỎNG 131.Xây dựng hệ mô hình ... x2là vận tốc góc con lắc CHƯƠNG 3 :THIẾT KẾ BỘ ĐIỀU KHIỂN1 Fast Terminal Sliding Mode Control2 Adaptive Sliding Mode Control of Inverted PendulumTừ phương trình (5) ta cól(4/3(M +m)- mcos2x1) ... Lam thực hiện đề tài ? ?Control of an Inverted Pendulum" cũng sử dụng thuật toán LQR (2008) với thời gian điều khiển cân bang hệ thống lớn hơn 10s Đề tài "Vision-Based Control of an Inverted

Ngày tải lên: 08/04/2024, 12:53

... Hexapod ModelSMC ControllerEstimated Dynamicqdd/dt edotFigure 4.1 The conventional sliding mode controller 4.2 Adaptive Sliding Mode Controller Hexapod ModelSMC ControllerAdaptive ControllerAdaptive ... Optimization 20Trang 9Chapter 4 .ADAPTIVE SLIDING MODE CONTROLLER 254.1 Conventional Sliding Mode Controller 254.2 Adaptive Sliding Mode Controller 26Chapter 5.SIMULATION AND RESULT 325.1 Multi-objective ... and fuzzy neural networks were proposed for adaptive and fixed sliding mode control of robotic manipulators in [22], [23], [24], [25], [26], [27], [28] Generally, many adaptive sliding mode control

Ngày tải lên: 31/07/2024, 10:29

... Analysis of Closed-Loop Performance and Frequency-Domain Design of Compensating Filters for Sliding Mode Control Systems Igor Boiko Honeywell and University of Calgary, 2500 University ... analysis of chattering and of the closed-loop performance is carried out in the frequency domain via the LPRS method Further, G Bartolini et al (Eds.): Modern Sliding Mode Control Theory, LNCIS ... filter design is given Averaged Motions in a Sliding Mode System It is known that the SM control is essentially a relay control with respect to the sliding variable Therefore, the SM system can

Ngày tải lên: 01/07/2015, 09:37

... al., ? ?Adaptive Terminal Sliding Mode Tracking Control for Rigid Robotic Manipulators with Uncertain Dynamcs”, JSME, Vol 40, No.3, 1997 [41] Peng Li, et al., “Robust Adaptive Sliding Mode Control ... Xinhua Wang, “ Advanced Sliding Mode Control for Mechanical Systems – Design, Analysis and MATLAB Simulation”, Springer [32] Y Feng, et al.,”Non-singular Terminal Sliding Mode Control of Rigid Manipulators”,Automatica ... Terminal Sliding Mode Control of Uncertain Second-Order Nonlinear Systems”,Mathematical Problems in Engineering, 2015 [37] M.Boukattaya, et al.,? ?Adaptive Nonsingular Fast Terminal Sliding Mode Control

Ngày tải lên: 03/03/2021, 19:52

... space model of the three(20) Robust sliding mode control and flux observer for induction motor using singular perturbation Remark and kc = 197 p M J Lr 4.3 Speed and flux sliding mode controller ...  Sliding mode control review of the induction motor   φrd = f2 dt (23) d Assuming that the induction motor model system is control-   i = f + v  sd sd lable and observable, the sliding mode ... Gz1 and Gz2 , sliding mode occurs in (43) along the manifold ez = Robust sliding mode control and flux observer for induction motor using singular perturbation Proposition Assume that ex1 and

Ngày tải lên: 25/01/2022, 09:13

... analysis and simulations, that the developed adaptive controller actually meets its control objectives Keywords – Fuel cell, interleaved boost converter, sliding mode control, adaptive control ... initial conditions 3.2 Adaptive sliding mode controller (SMC) design Once the control objectives are defined, as the MIMO system is highly nonlinear, an adaptive sliding mode control is proposed ... hand, and load resistance uncertainty and change, on the other hand The problem is dealt with using an adaptive sliding mode controller, developed on the basis on the system nonlinear model The adaptive

Ngày tải lên: 25/01/2022, 09:38

... the modes randomly during operation From Figure 3, we can see that firstly the system switches from mode to mode 4, then from mode to mode 1, finally, it switches from mode to modes 4, 6, and ... Z Li and C Xu, ? ?Adaptive fuzzy logic control of dynamic balance and motion for wheeled inverted pendulums,” Fuzzy Sets and Systems, vol 160, no 12, pp 1787–1803, 2009 34 Z Li and J Luo, ? ?Adaptive ... reduced model for mobile manipulators such that it could be transformed into the framework of MJLS with modeling system dynamics uncertainties; ii designing an adaptive sliding mode control SMC

Ngày tải lên: 01/11/2022, 08:31

... Xia Y, and Fu M Adaptive sliding mode control for attitude stabilization with actuator saturation IEEE Trans Ind Electron 2011; 58(10): 4898–4907 11 Ge SS and Wang C Direct adaptive NN control ... the controller design Sliding mode control (SMC) is regarded as one of the robust control techniques against matched uncertainties and bounded disturbances In the study by Zhu et al.,10 two adaptive ... square control; IAV: integrated absolute control performance, tracking errors, and control inputs are shown in Figures 6, 7, and 8, respectively From Figures and 7, we can see that S2 and S3

Ngày tải lên: 08/11/2022, 15:00

... cell system modeling 6 2.1 PEM fuel cell 6 2.2 System modeling 7 III Control design of the PEM fuel cell system 11 3.1 Sliding mode control approach 11 3.2 Adaptive sliding mode control based ... scheme based on the second order sliding mode control is elaborated The control scheme is composed of an MPPT controller and pressure controller The pressure control was set using the super twisting ... temperature and membrane water content Thereby MPP tracking should be used to track its changes Trang 1011 III Control design of the PEM fuel cell system 3.1 Sliding mode control approach Sliding mode control

Ngày tải lên: 11/06/2024, 22:02

... Dynamical adaptive sliding mode control of observable minimum-phase uncertain nonlinear systems In: Young, K.K.D., Ozguner, U (eds.) Variable structure systems, sliding mode and nonlinear control ... tank and the height of the liquid in the tank References Levant, A.: Construction principles of 2 -sliding mode design Automatica 43, 576– 586 (2007) Utkin, V.I.: Sliding Modes in Control and Optimization ... stabilise nonlinear systems SMC and adaptive backstepping are a robust control and an adaptive control design methods, respectively A combination of these two control design methods may benefit...

Ngày tải lên: 01/07/2015, 09:13

... manipulators: Sliding mode control approach (Chern and Wu, 1992), (Chan, 1995), (Pandian and Hanmandlu, 1995), (Tzafestas et al., 1996), (Habibi, 1999); Adaptive control approach (Sadegh and Horowitz, ... with the matched and unmatched uncertainties The concept of integral sliding mode control (ISMC) has been proposed and defined in (Utkin and Shi, 1996) An integral sliding mode controller is constructed ... schemes, integrating sliding mode control scheme with other control 11 CHAPTER INTRODUCTION strategies and applying sliding mode control schemes to real system such as servo mechanisms and robotic manipulators...

Ngày tải lên: 17/09/2015, 17:18

... generally three control methods: PID control, sliding mode control and fuzzy control PID control is the most commonly used with simple algorithm, great steady-state performance and no steady-state ... field 3.1 The fundamental principle of sliding mode Control Sliding mode control is a control method in changing structure control system Compared with normal control, it has a switching characteristic ... converters with sliding mode Multi-conference on Systems and Control (pp 1541-1544 ) Saint Petersburg, RUSSIA: IEEE Al-Hosani, K., Malinin, A M., & Utkin, V I (2009) Sliding Mode PID Control and Estimation...

Ngày tải lên: 20/06/2014, 04:20

... vrx and vry are the components of the rotor voltage, irx and iry represent the rotor currents, and sl = ms r stands for the slip frequency between the r and x axes Rr , L s 112 Sliding Mode Control ... considered to conceive the control of each of those two cases, and a rst-order sliding- mode controller is accordingly synthesized for each of them 114 Sliding Mode Control In particular, the ... Thevenins model Sliding Mode Control of Fuel Cell, Supercapacitors and Batteries Hybrid Sources for Vehicle Applications 99 It uses a series resistor (Rseries) and an RC parallel network (Rtransient and...

Ngày tải lên: 20/06/2014, 04:20

... New York, USA Levant, A (1993) Sliding order and sliding accuracy in sliding mode control, International Journal of Control 58(6): 1247–1263 Ogata, K (2001) Modern Control Engineering, Prentice ... the sliding mode control method, the Generalized Proportional Integral control and the disturbance observer The modeling of the motor and the problem formulation are given in Section 3, and the ... needs and auxiliary control loop (as shown in the integral sliding mode control design, Utkin et al (1999)) In our case, the architecture of the control system based on two control loops and disturbance...

Ngày tải lên: 20/06/2014, 04:20

... and control characteristics In this section different sliding mode control strategies are formulated for different objectives e.g current control, speed control, torque control and position control ... (1999) A control engineer’s guide to sliding mode control, IEEE Transaction on Control Systems Technology 7(3): 212–222 9 Sliding Mode Control of DC Drives Dr B M Patre1, V M Panchade2 and Ravindrakumar ... current controller The sliding mode controller has been already employed in the inner current loop thus, if we were to use another sliding mode controller for speed control, the output of speed controller...

Ngày tải lên: 20/06/2014, 04:20

... using omnidirectional vision 230 Sliding Mode Control Sliding Mode Control 10 Stability analysis In this section, the stability of both proposed sliding mode control laws is analyzed Given that ... β1x1 and β1x2 are small after |x1|< xth., and so are S and u The overall sliding mode control law incorporated with the control gain switcihing strategy is illustrated in Fig There are two controllers ... sliding surface S = The states driven by the controller of Eq (11) will go out of and back to 212 Sliding Mode Control the sliding surface, since the term associated with sgn(S) changes the control...

Ngày tải lên: 20/06/2014, 04:20

... second-order sliding mode controller, the super-twisting sliding mode controller (STSMC), making possible to obtain an explicit relation for the controller design parameters 238 Sliding Mode Control Sliding ... When the sliding mode occurs, i.e., ξ = 0, the sliding mode dynamic results as: z˙1 = k1 z1 Super-Twisting Sliding Mode in Motion Control Systems Control Systems Super-Twisting Sliding Mode in ... References Levant, A (1993) Sliding order and sliding accuracy in sliding mode control, Int J Control 58(6): 1247–1263 Levant, A (2005) Quasi-continuous high-order sliding- mode controllers, IEEE Transactions...

Ngày tải lên: 20/06/2014, 04:20

... Siciliano B (1996) Modeling and Control of Robot Manipulators, The McGraw-Hill Companies, Inc., New York 278 Sliding Mode Control Slotine J.-J., & Li W (1987) On the Adaptive Control of Robot ... on Automatic Control, Vol.37, No.11: 1782-1786 Part Selected Applications of Sliding Mode Control 15 Force/Motion Sliding Mode Control of Three Typical Mechanisms Rong-Fong Fung1 and Chin-Fu ... variable [13], and the errors in the separate force control law and stability analysis were presented in [11] Recently, Lian and Lin [14] have proposed a 282 Sliding Mode Control new sliding surface...

Ngày tải lên: 20/06/2014, 04:20