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Wyświetlanie 1-15 z 56
Tytuł:
An itae optimal sliding mode controller for systems with control signal and velocity limitations
Autorzy:
Pietrala, Mateusz
Leśniewski, Piotr
Bartoszewicz, Andrzej
Powiązania:
https://bibliotekanauki.pl/articles/2204689.pdf
Data publikacji:
2023
Wydawca:
Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
Tematy:
sliding mode control
optimal control
state constraints
Opis:
In this paper, a sliding mode controller, which can be applied for second-order systems, is designed. Robustness to external disturbances, finite regulation time and a good system’s behaviour are required for a sliding mode controller. In order to achieve the first two of these three goals, a non-linear, time-varying switching curve is introduced. The representative point (state vector) belongs to this line from the very beginning of the control process, which results in elimination of the reaching phase. The stable sliding motion along the switching curve is provided. Natural limitations such as control signal and system’s velocity constraints will be taken into account. In order to satisfy them, the sliding line parameters will be properly selected. However, a good dynamical behaviour of the system has to be provided. In order to achieve that, the integral time absolute error (ITAE) quality index will be introduced and minimised. The simulation example will verify theoretical considerations.
Źródło:
Acta Mechanica et Automatica; 2023, 17, 2; 230--238
1898-4088
2300-5319
Pojawia się w:
Acta Mechanica et Automatica
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Dead-Beat and reaching law based sliding mode control laws for perishable inventories with transportation losses
Autorzy:
Bartoszewicz, A.
Maciejewski, M.
Powiązania:
https://bibliotekanauki.pl/articles/229507.pdf
Data publikacji:
2012
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
sliding mode control
perishable inventories
inventory control
Opis:
This paper describes discrete sliding mode (SM) supply management strategies for inventory systems with perishable goods and transportation losses. In the considered systems, the stock used to satisfy the unknown, bounded and time-varying demand is replenished with some delay from a distant supply source. The on-hand stock deterioration during lead-time delay, as well as commodity losses in supply process are explicitly taken into account. Two supply management strategies are proposed. The first one ensures fast reaction to the imposed demand variations, but may result in excessive control signal magnitude at the beginning of the inventory management process. Therefore, in order to conform to supplier limitations we also develop an alternative control strategy based on the concept of the reaching law. That strategy helps reduce the initial supply rate and satisfy the supplier limitations. A number of desirable properties of both proposed strategies are formulated and formally proved. These properties include full customer demand satisfaction and elimination of the risk of exceeding the warehouse capacity.
Źródło:
Archives of Control Sciences; 2012, 22, 3; 255-272
1230-2384
Pojawia się w:
Archives of Control Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Continuous and discrete sliding mode control of an active car suspension system
Autorzy:
Łuczko, J.
Ferdek, U.
Powiązania:
https://bibliotekanauki.pl/articles/280694.pdf
Data publikacji:
2016
Wydawca:
Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
Tematy:
sliding mode control
active damping
car suspension
Opis:
In this paper, sliding mode control (SMC) algorithms are tested for their use in an active car suspension system. Using the quarter model of the car as an example, the comparison of the efficiency of the algorithms is made. A continuous and two discrete versions of the sliding mode control are taken into consideration. The study is limited to finding the relation between the control parameters and the comfort factor. This is done by analyzing the response of the model to the harmonic and impulse excitation.
Źródło:
Journal of Theoretical and Applied Mechanics; 2016, 54, 1; 3-11
1429-2955
Pojawia się w:
Journal of Theoretical and Applied Mechanics
Dostawca treści:
Biblioteka Nauki
Artykuł
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:
Control of an Induction Motor Using Sliding Mode Linearization
Autorzy:
Etien, E.
Cauet, E.
Rambault, L.
Champenois, G.
Powiązania:
https://bibliotekanauki.pl/articles/908504.pdf
Data publikacji:
2002
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
automatyka
induction motor
sliding mode control
linearization
Opis:
Nonlinear control of the squirrel induction motor is designed using sliding mode theory. The developed approach leads to the design of a sliding mode controller in order to linearize the behaviour of an induction motor. The second problem described in the paper is decoupling between two physical outputs: the rotor speed and the rotor flux modulus. The sliding mode tools allow us to separate the control from these two outputs. To take account of parametric variations, a model-based approach is used to improve the robustness of the control law despite these perturbations. Experimental results obtained with a laboratory setup illustrate the good performance of this technique.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2002, 12, 4; 523-531
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Ship trajectory tracking control system design based on sliding mode control algorithm
Autorzy:
Liu, Y.
Bu, R.
Gao, X.
Powiązania:
https://bibliotekanauki.pl/articles/259621.pdf
Data publikacji:
2018
Wydawca:
Politechnika Gdańska. Wydział Inżynierii Mechanicznej i Okrętownictwa
Tematy:
LOS
ship trajectory
tracking control system
sliding mode control
Opis:
The paper reports the design and tests of the planar autopilot navigation system in the three-degree-of-freedom (3-DOF) plane (surge, sway and yaw) for a ship. The aim of the tests was to check the improved maneuverability of the ship in open waters using the improved nonlinear control algorithm, developed based on the sliding mode control theory for the ship-trajectory tracking problem of under-actuated ships with static constraints, actuator saturation, and parametric uncertainties. With the integration of the simple increment feedback control law, the dynamic control strategy was developed to fulfill the under-actuated tracking and stabilization objectives. In addition, the LOS (line of sight) guidance system was applied to control the motion path, whereas the sliding mode controller was used to emulate the rudder angle and propeller rotational speed control. Firstly, simulation tests were performed to verify the validity of the basic model and the tracking control algorithm. Subsequently, full scale maneuverability tests were done with a novel container ship, equipped with trajectory tracking control and sliding mode controller algorithm, to check the dynamic stability performance of the ship. The results of the theoretical and numerical simulation on a training ship verify the invariability and excellent robustness of the proposed controller, which: effectively eliminates system chattering, solves the problem of lateral drift of the ship, and maintains the following of the trajectory while simultaneously achieving global stability and robustness.
Źródło:
Polish Maritime Research; 2018, 3; 26-34
1233-2585
Pojawia się w:
Polish Maritime Research
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Research on beam supply control strategy based on sliding mode control
Autorzy:
Zhang, Hao
Dong, Haiying
Zhang, Baoping
Wu, Tong
Chen, Changwen
Powiązania:
https://bibliotekanauki.pl/articles/141014.pdf
Data publikacji:
2020
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
beam supply
DC/DC converter
robustness
sliding mode control
Opis:
In the hybrid multiple H-bridge topology of beam supply, the load change of a DC/DC full-bridge converter can greatly affect the output voltage during onsite operation. An improved sliding mode control (SMC) strategy is thus proposed in this paper, where the rate of switching control is added to the law of system equivalent control to create a law that can realize a complete sliding mode control. Considering the special operating conditions of the load can have an influence on the performance of the controller, the impact of uncertainty existing in onsite conditions is suppressed with the proposed strategy utilized. The validity of the proposed strategy, finally, is verified by simulation, which proves the outperformance of the system in both robustness and dynamics.
Źródło:
Archives of Electrical Engineering; 2020, 69, 2; 349-364
1427-4221
2300-2506
Pojawia się w:
Archives of Electrical Engineering
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Gaussian process dynamic modeling and backstepping sliding mode control for magnetic levitation system of maglev train
Autorzy:
Sun, Yougang
Wang, Sumei
Lu, Yang
Xu, Junqi
Powiązania:
https://bibliotekanauki.pl/articles/2086959.pdf
Data publikacji:
2022
Wydawca:
Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
Tematy:
maglev train
Gaussian process
sliding mode control
parameter perturbations
Opis:
The maglev trains are strongly nonlinear and open-loop unstable systems with external disturbances and parameters uncertainty. In this paper, the Gaussian process method is utilized to get the dynamic parameters, and a backstepping sliding mode controller is proposed for magnetic levitation systems (MLS) of maglev trains. That is, for a MLS of a maglev train, a nonlinear dynamic model with accurate parameters is obtained by the Gaussian process regression method, based on which a novel robust control algorithm is designed. Specifically, the MLS is divided into two sub-systems by a backstepping method. The inter virtual control inputs and the Lyapunov function are constructed in the first sub-system. For the second sub-system, the sliding mode surface is constructed to fulfil the design of the whole controller to asymptotically regulate the airgap to a desired trajectory. The stability of the proposed control method is analyzed by the Lyapunov method. Both simulation and experimental results are included to illustrate the superior performance of the presented method to cope with parameters perturbations and external disturbance.
Źródło:
Journal of Theoretical and Applied Mechanics; 2022, 60, 1; 49--62
1429-2955
Pojawia się w:
Journal of Theoretical and Applied Mechanics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Linear Speed Control for Multi-Machine system Using Fuzzy-Sliding Mode
Autorzy:
Bouchiba, B.
Hazzab, A.
Glaoui, H.
Med-Karim, F.
Bousserhane, I. K.
Sicard, P.
Powiązania:
https://bibliotekanauki.pl/articles/384749.pdf
Data publikacji:
2012
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
multi-motors system
fuzzy logic
sliding mode control
MIMO
Opis:
In this contribution, a control scheme based on multi input multi output Fuzzy Sliding Mode control (MIMOFSMC) for linear speed regulation of multi-motors system is proposed. Once the decoupled model of the multi- motors system is obtained, a smooth control function with a threshold was chosen to indicate how far the state from to the sliding surface is. However, the magnitude of this control function depends closely on the upper bound of uncertainties, and this generates chattering. So, this magnitude has to be chosen with great care to obtain high performances. Usually the upper bound of uncertainties is difficult to known before motor operation, so, a Fuzzy Sliding Mode controller is investigated to solve this difficulty; a simple Fuzzy inference mechanism is used to reduce the chattering phenomenon by simple adjustments. A simulation study is carried out and shows that the proposed controller has great potential for use as an alternative to the conventional sliding mode contro.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2012, 6, 1; 3-7
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Two cascaded and extended kalman filters combined with sliding mode control for sustainable management of marine fish stocks
Autorzy:
Benz, Katharina
Rech, Claus
Mercorelli, Paolo
Sergiyenko, Oleg
Powiązania:
https://bibliotekanauki.pl/articles/1837383.pdf
Data publikacji:
2020
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
Lotka‐Volterra model
sliding mode control
Extended Kalman Filter
Opis:
This paper deals with a possible approach to controlling marine fish stocks using the prey‐predator model described by the Lotka‐Volterra equations. The control strategy is conceived using the sliding mode control (SMC) approach which, based on the Lyapunov theorem, offers the possibility to track desired functions, thus guaranteeing the stability of the controlled system. One of the most important aspects of this model is the identification of some parameters which characterizes the model. In this work two cascaded and Extended Kalman Filters (EKFs) are proposed to estimate them in order to be utilized in SMC. This approach can be used for sustainable management of marine fish stocks: through the developed algorithm, the appropriate number of active fishermen and the suitable period for fishing can be determined. Computer simulations validate the proposed approach.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2020, 14, 3; 28-35
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Sliding mode speed control for multi-motors system
Autorzy:
Bouchiba, B.
Hazzab, A.
Glaoui, H.
Med-Karim, F.
Bousserhane, I. K.
Powiązania:
https://bibliotekanauki.pl/articles/384373.pdf
Data publikacji:
2010
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
Multi-Motors systems
sliding mode control
proportional-integral (P1) control
Opis:
Continuous processes in the plastics, textile paper and other industries, require several drives working in synchronism. The aim of this paper is to control speed of the multi motors system, and to maintain a constant mechanical tension between the rollers of the system. Several controllers are considerer, including Proportional-Integral (PI) and sliding-mode control (SMC). Since the PI control method can be applied easily and is widely known, it has an important place in control applications. But this method is insensitive to parameter changes. The advantage of an SMC is its robustness and ability to handle the non-linear behaviour of the system, and is indicated in comparison with traditional proportional-integral (P1) control scheme. Theoretical analysis and simulation results are provided to evaluate the consistency and performances of this control technique (SMC).
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2010, 4, 3; 50-54
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Adaptive sliding mode control for ship autopilot with speed keeping
Autorzy:
Liu, Z.
Powiązania:
https://bibliotekanauki.pl/articles/259349.pdf
Data publikacji:
2018
Wydawca:
Politechnika Gdańska. Wydział Inżynierii Mechanicznej i Okrętownictwa
Tematy:
surface vessel
speed loss
adaptive control
course keeping
sliding mode control
Opis:
The paper addresses an important issue in surface vessel motion control practice that the ship dynamics and sailing performance can be affected by speed loss. The vessel speed is significantly decreased by the added resistance generated by waves. An adaptive sliding mode course keeping control design is proposed which takes into account uncertain ship dynamics caused by forward speed variations, while avoiding performance compromises under changing operating and environmental conditions. The sliding mode control provides robust performance for time-varying wave disturbances and time-varying changes in ship parameters and actuator dynamics. After combining the unknown but bounded system uncertainties, the design of the adaptation law is obtained which is based on the Lyapunov’s direct method. Simulations on a ship with two rudders illustrate the effectiveness of the proposed solution.
Źródło:
Polish Maritime Research; 2018, 4; 21-29
1233-2585
Pojawia się w:
Polish Maritime Research
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Improved direct torque control of induction motors using adaptive observer and sliding mode control
Autorzy:
Kouchih, D
Tadjine, M.
Boucherit, M. S.
Powiązania:
https://bibliotekanauki.pl/articles/229910.pdf
Data publikacji:
2013
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
adaptive observer
direct torque control
induction motor
sensorless
sliding mode control
Opis:
This paper presents the synthesis of an adaptive observer which is used for the improvement of the direct torque control of induction motor drives. The observer detects stator flux components in two-phase stationary reference frame, rotor speed and stator resistance by measure of the stator terminal voltages and currents. The observer is adapted using a simple algorithm which does not imply a high computational load. Stability analysis based on Lyapunov theory is performed in order to guarantee the closed loop stability. Simulation tests under load disturbance and stator resistance variation are provided to evaluate the consistency and performance of the proposed control technique in the low and high speeds.
Źródło:
Archives of Control Sciences; 2013, 23, 3; 361-376
1230-2384
Pojawia się w:
Archives of Control Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Adaptive fuzzy-sliding mode controller for trajectory tracking control of quad-rotor
Autorzy:
Simoud, Lahcen
Kadri, Boufeldja
Bousserhane, Ismail Khalil
Powiązania:
https://bibliotekanauki.pl/articles/384825.pdf
Data publikacji:
2020
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
quadrotor UAV
sliding mode control
adaptive PD-Slidng mode controller
fuzzy PD-sliding mode
Opis:
This paper deals with the design of an adaptive-fuzzy-PD-Sliding mode controller to achieve stabilization of a quadrotor aircraft in the presence of wind disturbance. Firstly, the dynamic system modeling is carried out using Euler-Lagrange formalism. Then, an adaptive PD-sliding mode control system with an integral-operation switching surface is investigated for quadrotor desired trajectory tracking. Finally, an adaptive fuzzy-PD-sliding mode controller is proposed to achieve control objectives and system stabilization where the fuzzy logic system used to dynamically control parameters settings of the PD-sliding mode equivalent control law. Effectiveness and robustness of the proposed control scheme is verified through simulation results taking into account external disturbances. The simulation results of a quadrotor aircraft control with the proposed controller demonstrate the high performance during flight such as null tracking error and robustness in the presence of external disturbances.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2020, 14, 2; 15-24
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Zmiana położenia układu odwróconego wahadła przy użyciu sterowania ślizgowego
Position changing of inverted pendulum system using a sliding mode control
Autorzy:
Tomera, M.
Powiązania:
https://bibliotekanauki.pl/articles/268605.pdf
Data publikacji:
2014
Wydawca:
Politechnika Gdańska. Wydział Elektrotechniki i Automatyki
Tematy:
sterowanie ślizgowe
LQR
odwrócone wahadło
sliding mode control
inverted pendulum
Opis:
W referacie przedstawione zostało sterowanie ślizgowe zastosowane do zmiany położenia wózka w układzie odwróconego wahadła. Obiekt sterowania jest nieliniowy, o dwóch stopniach swobody (kąt ustawienia wahadła i pozycja wózka) i jednym wejściu (siła przyłożona do wózka). Zadanie sterowania polega na takim przemieszczaniu położenia wózka, aby wraz z jego zmianami, pręt wahadła balansował w położeniu pionowym i nie przewrócił się. Model matematyczny obiektu składa się z czterech nieliniowych równań stanu. Sterowanie ślizgowe zazwyczaj stosowane jest do obiektów drugiego rzędu, zapisywanych w postaci zmiennych fazowych. Dlatego też w przypadku układu odwróconego wahadła konieczna była dekompozycja problemu i zastosowane zostało dwuwarstwowe sterowanie ślizgowe. W części równoważnej sterowania rozważone zostały regulatory: liniowo-kwadratowy (LQR) i proporcjonalno-całkującoróżniczkujący (PID), które są powszechnie stosowane do sterowania procesami dynamicznymi. Uzyskane układy sterowania ślizgowego są odporne na wpływ działających zakłóceń. Wyniki badań symulacyjnych pokazują efektywność pracy zaproponowanych struktur układów sterowania.
The paper presents sliding mode control, which was used to change the position of the cart in the inverted pendulum system. The plant of control is non-linear, with two degrees of freedom (the angle of the pendulum and the position of the cart) and one input (force applied to the cart). The task is to control the movement of the cart position to get along with his changes, balancing the pendulum rod in the upright position. The mathematical model of the object consists of four nonlinear equations of state. Sliding mode control is normally applied to the second-order systems, presented in the canonical form. Therefore, in the case of an inverted pendulum system, the decomposition of the problem was necessary and two-layer sliding mode control was applied. In the equivalent part of the control, two controllers were considered: linear quadratic regulator (LQR) and Proportional-Integral-Derivative (PID), which are commonly used to control dynamic processes. The resulting sliding mode control systems are robust to the influence of disturbance input. The results of simulation studies show the effectiveness of the work of the proposed structures of control systems.
Źródło:
Zeszyty Naukowe Wydziału Elektrotechniki i Automatyki Politechniki Gdańskiej; 2014, 40; 119-126
1425-5766
2353-1290
Pojawia się w:
Zeszyty Naukowe Wydziału Elektrotechniki i Automatyki Politechniki Gdańskiej
Dostawca treści:
Biblioteka Nauki
Artykuł
Wyświetlanie 1-15 z 56

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