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    Wyświetlanie 1-9 z 9
    Tytuł:
    Hierarchical sliding mode control for a class of SIMO under-actuated systems
    Autorzy:
    Qian, D.
    Yi, J.
    Zhao, D.
    Powiązania:
    https://bibliotekanauki.pl/articles/971008.pdf
    Data publikacji:
    2008
    Wydawca:
    Polska Akademia Nauk. Instytut Badań Systemowych PAN
    Tematy:
    control approaches
    control applications
    sliding mode control
    underactuated systems
    Opis:
    A hierarchical sliding mode control approach is proposed for a class of SIMO under-actuated systems. This class of under-actuated systems is made up of several subsystems. Based on this physical structure, the hierarchical structure of the sliding surfaces is designed as follows. At first, the sliding surface of every subsystem is defined. Then the sliding surface of one subsystem is defined as the first layer sliding surface. The first layer sliding surface is used to construct the second layer sliding surface with the sliding surface of another subsystem. This process continues till the sliding surfaces of the entire subsystems are included. According to the hierarchical structure, the total control law is deduced by the Lyapunov theorem. In theory, the asymptotic stability of the entire system of sliding surfaces is proven and the parameter boundaries of the subsystem sliding surfaces are given. Simulation results show the feasibility of this control method through two typical SIMO under-actuated systems.
    Źródło:
    Control and Cybernetics; 2008, 37, 1; 159-175
    0324-8569
    Pojawia się w:
    Control and Cybernetics
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    ANFIS-based PID continuous sliding mode controller for robot manipulators in joint space
    Autorzy:
    Elawady, Wael M.
    Asar, Mohammed F.
    Sarhan, Amany M.
    Powiązania:
    https://bibliotekanauki.pl/articles/1839129.pdf
    Data publikacji:
    2019
    Wydawca:
    Polska Akademia Nauk. Instytut Badań Systemowych PAN
    Tematy:
    PID
    continuous sliding mode control
    ANFIS
    uncertainties
    robot
    Opis:
    This paper presents a feasible design for a con- trol algorithm to synthesize an adaptive neuro-fuzzy inference system-based PID continuous sliding mode control system (ANFIS- PIDCSMC) for adaptive trajectory tracking control of the rigid robot manipulators (RRMs) in the joint space. First, a PID sliding mode control algorithm with sliding surface dynamics-based continuous proportional-integral (PI) control action (PIDSMC-SSDCPI) is presented. The global stability conditions are formulated in terms of Lyapunov full quadratic form such that the robot system output can track the desired reference output. Second, to increase the control system robustness, the PI control action in the PIDSMC- SSDCPI controller is supplanted by an ANFIS control signal to provide a control approach that can be termed adaptive neuro-fuzzy inference system-based PID continuous sliding mode control system (ANFIS-PIDCSMC). For the proposed control algorithm, numerical simulations using the dynamic model of RRM with uncertainties and external disturbances show high quality and effectiveness of the adopted control approach in high-speed trajectory tracking control problems. The simulation results that are compared with the results, obtained for the traditional controllers (standalone PID and traditional sliding mode controller (TSMC)), illustrate the fact that the tracking control behavior of the robot system achieves acceptable tracking performance.
    Źródło:
    Control and Cybernetics; 2019, 48, 4; 525-555
    0324-8569
    Pojawia się w:
    Control and Cybernetics
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Stability analysis of sliding-mode feedback control
    Autorzy:
    Clarke, F. H.
    Vinter, R. B.
    Powiązania:
    https://bibliotekanauki.pl/articles/970887.pdf
    Data publikacji:
    2009
    Wydawca:
    Polska Akademia Nauk. Instytut Badań Systemowych PAN
    Tematy:
    sliding-mode control
    discontinuous control
    Lyapunov functions
    stabilization
    robustness
    Opis:
    This paper provides new analytic tools leading to the first rigorous stability and robustness analysis of sliding-mode feedback controllers. Unrestrictive conditions are given, under which these controllers are stabilizing in the presence of large disturbances, conditions invoke the existence of two Lyapunov-type functions, the first associated with passage to the sliding set in finite time, and the second with convergence to the desired state. In this approach, account is taken, from the outset, of implementational constraints. We provide a framework for establishing stability and robustness of the closed-loop system, for a variety of implementation schemes. We illustrate our results by means of two examples of the type frequently encountered in the sliding-mode literature.
    Źródło:
    Control and Cybernetics; 2009, 38, 4A; 1169-1192
    0324-8569
    Pojawia się w:
    Control and Cybernetics
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    An elbow planar manipulator driven by induction motors using sliding mode control for current loop
    Autorzy:
    Diniz, E. C. de
    Júnior, A. B. S.
    Honório, D. A.
    Barreto, L. H. S. C.
    Reis, L. L. N. dos
    Powiązania:
    https://bibliotekanauki.pl/articles/206213.pdf
    Data publikacji:
    2012
    Wydawca:
    Polska Akademia Nauk. Instytut Badań Systemowych PAN
    Tematy:
    sliding mode control
    induction motor drives
    manipulators
    digital signal processor
    PI controllers
    Opis:
    The control of a planar elbow manipulator driven by a squirrel-cage induction motor using sliding mode control (SMC) is presented in this paper. The modeling of the manipulator mechanical coupling as a load applied to the induction motor shaft is developed. This has direct influence on both dq currents, which are chosen as the sliding manifold instead of controlling both mechanical and electrical parts as individual processes like most industrial manipulators do. Conventional proportional-integral (PI) controllers are used for each loop, implying easy design procedure and implementation with low computational effort. The system can then be implemented by using a digital signal processor (DSP) and applied in industrial environments. Simulation and experimental results on a real manipulator are shown to validate the proposed control scheme. The results show that there is low steady-state error for the manipulator position.
    Źródło:
    Control and Cybernetics; 2012, 41, 2; 395-413
    0324-8569
    Pojawia się w:
    Control and Cybernetics
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Chattering attenuation in sliding mode control systems
    Autorzy:
    Bartoszewicz, A.
    Powiązania:
    https://bibliotekanauki.pl/articles/206731.pdf
    Data publikacji:
    2000
    Wydawca:
    Polska Akademia Nauk. Instytut Badań Systemowych PAN
    Tematy:
    nieliniowy system sterowania
    nonlinear control system
    compensation
    control nonlinearities
    sliding mode control
    variable structure systems
    Opis:
    In this paper sliding mode control systems are considered and a new technique to attenuate chattering is proposed. The technique employs simple, first-order dynamical devices, i.e. an integrator or a low-pass filter, to compensate in part for unknown and changing disturbance. As a result of this compensation, the magnitude of the discontinuous control term is essentially reduced. The term does not depend on the admissible disturbance or its change rate, but only on the uncertainty of the disturbance at the initial time t = t[sub o]. The technique proposed in this paper attenuates the undesirable chattering without any deterioration of the system performance.
    Źródło:
    Control and Cybernetics; 2000, 29, 2; 585-584
    0324-8569
    Pojawia się w:
    Control and Cybernetics
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Adaptive robust PID sliding control of a liquid level system based on multi-objective genetic algorithm optimization
    Autorzy:
    Mahmoodabadi, M. J.
    Taherkhorsandi, M.
    Talebipour, M.
    Powiązania:
    https://bibliotekanauki.pl/articles/206697.pdf
    Data publikacji:
    2017
    Wydawca:
    Polska Akademia Nauk. Instytut Badań Systemowych PAN
    Tematy:
    sliding mode control
    PID control
    adaptive control
    genetic algorithm
    multi-objective optimization
    liquid level system
    Opis:
    Adaptive robust PID sliding mode control optimized by means of multi-objective genetic algorithm is presented in this paper to control a three-tank liquid level system with external disturbances. While PID constitutes a reliable and stable controller, when compared to sliding mode control (SMC); robustness and tracking performance of SMC are higher than those of the PID control. To use the unique features of both controllers, optimal sliding mode control is executed in terms of a supervisory controller to enhance the performance of optimal adaptive PID control and to provide the necessary control inputs. After the design of the control law, control coefficients of all four involved controllers are optimized by using the multi-objective genetic algorithm so as to minimize errors and the input of the controller. Simulations illustrate that the adaptive robust PID sliding controller based on multi-objective genetic algorithm optimization provides a superior response in comparison to the results obtained separately by PID control, sliding mode control, and adaptive PID control, respectively.
    Źródło:
    Control and Cybernetics; 2017, 46, 3; 227-246
    0324-8569
    Pojawia się w:
    Control and Cybernetics
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Robust impedance control of a piezoelectric stage under thermal and external load disturbances
    Autorzy:
    Zareinejad, M.
    Rezaei, S. M.
    Ghidary, S. S.
    Abdullah, A.
    Motamedi, M.
    Powiązania:
    https://bibliotekanauki.pl/articles/969687.pdf
    Data publikacji:
    2009
    Wydawca:
    Polska Akademia Nauk. Instytut Badań Systemowych PAN
    Tematy:
    piezoelectric actuator
    sliding mode
    impedance control
    hysteresis
    Opis:
    Piezoelectric actuators are widely used in micromanipulation tasks such as atomic force microscopy and cell manipulation. However, the hysteresis nonlinearity and the creep reduce their fidelity and cause difficulties in the micromanipulation control procedure. Besides, variation of temperature and external loads could change the model parameters identified for the piezo actuator. In this paper, a novel feedforward-feedback controller is proposed. The modified Prandtl-Ishlinskii model is utilized to linearize the actuator hysteresis in feedforward scheme and a sliding mode based impedance control with perturbation estimation is used to cancel out the thermal and external load disturbances in feedback scheme. The efficiency of the proposed controller is verified by experiments.
    Źródło:
    Control and Cybernetics; 2009, 38, 3; 635-648
    0324-8569
    Pojawia się w:
    Control and Cybernetics
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    A stability based neural networks controller design method
    Autorzy:
    Song, J.
    Xu, X.
    He, X.
    Powiązania:
    https://bibliotekanauki.pl/articles/206120.pdf
    Data publikacji:
    1998
    Wydawca:
    Polska Akademia Nauk. Instytut Badań Systemowych PAN
    Tematy:
    sieć neuronowa
    stabilność
    sterowanie nieliniowe
    neural networks control
    nonlinear control
    sliding mode
    stability
    Opis:
    The use of neural networks in control systems can be seen as a natural step in the evolution of control methodology to meet new challenges. Many attempts have been made to apply the neural networks to deal with non-linearities and uncertainties of the control systems. Research in neural network applications to control can be classified according to the major methods depending on structures of the control system, such as NN-based NON-linear System Identification, NN-based Supervised Control, NN-based Direct Control, NN-based Indirect Control, NN-based Adaptive Control, NN-based Self-learning Control, NN-based Fuzzy Control, and NN Variable Structure Control. All these control methods cannot, however, effectively guarantee system stability, i.e. none of these neural network controls, except for NN-based Variable Structure Control, is based on system stability. This also limits the application and development of the neural networks in control theory. The paper shows the effort to solve this difficulty and give a way for the design method of the stability based neural networks controller using Lyapunov second stability theorem. This kind of controller can not only guarantee system stability, but also fully compensate for the influence of system uncertainties and non-linearities.Simulation results also show the effectiveness of the controller.
    Źródło:
    Control and Cybernetics; 1998, 27, 1; 119-133
    0324-8569
    Pojawia się w:
    Control and Cybernetics
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Trajectory tracking of a wheeled mobile robot with uncertainties and disturbances: proposed adaptive neural control
    Autorzy:
    Martins, N. A.
    Alencar, M.
    Lombardi, W. C.
    Bertol, D. W.
    Pieri, E. R.
    Filho, H. F.
    Powiązania:
    https://bibliotekanauki.pl/articles/971045.pdf
    Data publikacji:
    2015
    Wydawca:
    Polska Akademia Nauk. Instytut Badań Systemowych PAN
    Tematy:
    wheeled mobile robot
    trajectory tracking
    kinematic control
    variable structure control
    dynamic control
    sliding mode theory
    neural networks
    Lyapunov theory
    Opis:
    This paper analyses a trajectory tracking control problem for a wheeled mobile robot, Rusing integration of a kinematic neural controller (KNC) and a torque neural controller (TNC), in which both the kinematic and dynamic models contain uncertainties and disturbances. The proposed adaptive neural controller (PANC) is composed of the KNC and the TNC and is designed with use of a modeling technique of Gaussian radial basis function neural networks (RBFNNs). The KNC is a variable structure controller, based on the sliding mode theory and is applied to compensate for the disturbances of the wheeled mobile robot kinematics. The TNC is an inertia-based controller composed of a dynamic neural controller (DNC) and a robust neural compensator (RNC) applied to compensate for the wheeled mobile robot dynamics, bounded unknown disturbances, and neural network modeling errors. To minimize the problems found in practical implementations of the classical variable structure controllers (VSC) and sliding mode controllers (SMC), and to eliminate the chattering phenomenon, the nonlinear and continuous KNC and RNC of the TNC are applied in lieu of the discontinuous components of the control signals that are present in classical forms. Additionally, the PANC neither requires the knowledge of the wheeled mobile robot kinematics and dynamics nor the timeconsuming training process. Stability analysis, convergence of the tracking errors to zero, and the learning algorithms for the weights are guaranteed based on the Lyapunov method. Simulation results are provided to demonstrate the effectiveness of the proposed approach.
    Źródło:
    Control and Cybernetics; 2015, 44, 1; 47-98
    0324-8569
    Pojawia się w:
    Control and Cybernetics
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
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