Skocz do pozycji: 1.

Tytuł:

Sliding mode control for longitudinal aircraft dynamics

Autorzy:

Iskrenovic-Momcilovic, O.

Powiązania:

https://bibliotekanauki.pl/articles/385149.pdf

Data publikacji:

2018

Wydawca:

Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów

Tematy:

aircraft dynamics
control
elevator
longitudinal
sliding mode

Opis:

The control of the longitudinal aircraft dynamics is challenging because the mathematical model of aircraft is highly nonlinear. This paper considers a sliding mode control design based on linearization of the aircraft, with the pitch angle and elevator deflection as the trim variables. The design further exploits the decomposition of the aircraft dynamics into its short-period and phugoid approximations. The discrete-time variable structure system synthesis is performed on the base of the elevator transfer function short-period approximation. This control system contains a sliding mode controller, an observer, based on nominal aircraft model without finite zero and two additional control channels for the aircraft and for the aircraft model. The realised system is stable and robust for parameter and external disturbances.

Źródło:

Journal of Automation Mobile Robotics and Intelligent Systems; 2018, 12, 3; 55-60
1897-8649
2080-2145

Pojawia się w:

Journal of Automation Mobile Robotics and Intelligent Systems

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 2.

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

/5

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Skocz do pozycji: 3.

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

/5

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Skocz do pozycji: 4.

Tytuł:

Quasi-Sliding Mode Control of Discrete-Time Systems

Autorzy:

Bartoszewicz, A.

Powiązania:

https://bibliotekanauki.pl/articles/908266.pdf

Data publikacji:

1999

Wydawca:

Uniwersytet Zielonogórski. Oficyna Wydawnicza

Tematy:

sterowanie
system dyskretny
sliding-mode control
discrete-time systems

Opis:

A reaching law approach to the design of discrete-time quasi-sliding mode control systems is considered. First the required position of the system representative point with reference to the sliding plane is specified, and then novel control strategies, which drive the system in such a way that the position actually changes according to the specification, are proposed. The strategies are linear and consequently the undesirable chattering and high-frequency switching between different values of the control signal are avoided. Furthermore, the state of the controlled system is driven to the narrowest possible band around the sliding plane. The strategies, when compared with previously published results, are simpler and they guarantee favourable performance of the controlled systems while using essentially reduced control effort.

Źródło:

International Journal of Applied Mathematics and Computer Science; 1999, 9, 4; 801-810
1641-876X
2083-8492

Pojawia się w:

International Journal of Applied Mathematics and Computer Science

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 5.

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

/5

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Skocz do pozycji: 6.

Tytuł:

Mechanism and optimum pressure for sliding-mode nanogenerator

Autorzy:

Yun, Hang
He, Ren

Powiązania:

https://bibliotekanauki.pl/articles/2204139.pdf

Data publikacji:

2023

Wydawca:

Zachodniopomorski Uniwersytet Technologiczny w Szczecinie. Wydawnictwo Uczelniane ZUT w Szczecinie

Tematy:

triboelectric nanogenerator
ab initio calculation
optimum pressure
recovered energy

Opis:

Triboelectric nanogenerator has extensive applicability because of its capability of harvesting mechanical energy and flexible working modes. To research the optimum pressure and improve the recovered energy of the sliding-mode triboelectric nanogenerator, a contact model of the Al/PTFE tribo-pair is studied by ab initio calculation and finite element simulation. The F-atom of PTFE is proved to be the electron accepter and the charges transferred can be predicted by Bader charge analysis. The mathematical relation between interfacial distance, charges transferred and contact pressure can be fitted. By Gauss’s law, the electric field is simulated and the regeneration energy of the sliding-mode triboelectric nanogenerator can be evaluated by the total electric energy and friction loss. Finally, an optimum pressure can be set to the upper or lower limit of working pressure corresponding to larger recovered energy. And less friction coefficient and larger contact area are also effective methods for recovering energy.

Źródło:

Polish Journal of Chemical Technology; 2023, 25, 1; 35--39
1509-8117
1899-4741

Pojawia się w:

Polish Journal of Chemical Technology

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 7.

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

/5

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Skocz do pozycji: 8.

Tytuł:

Adaptive sliding mode formation control of multiple underwater robots

Autorzy:

Das, B.
Subudhi, B.
Pati, B. B.

Powiązania:

https://bibliotekanauki.pl/articles/229471.pdf

Data publikacji:

2014

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

AUV
SMC
passivity
cooperative control

Opis:

This paper proposes a new adaptive sliding mode control scheme for achieving coordinated motion control of a group of autonomous underwater vehicles with variable added mass. The control law considers the communication constraints in the acoustic medium. A common reference frame for velocity is assigned to a virtual leader dynamically. The performances of the proposed adaptive SMC were compared with that of a passivity based controller. To save the time and traveling distance for reaching the FRP by the follower AUVs, a sliding mode controller is proposed in this paper that drives the state trajectory of the AUV into a switching surface in the state space. It is observed from the obtained results that the proposed SMC provides improved performance in terms of accurately tracking the desired trajectory within less time compared to the passivity based controller. A communication consensus is designed ensuring the transfer of information among the AUVs so that they move collectively as a group. The stability of the overall closed-loop systems are analysed using Lyapunov theory and simulation results confirmed the robustness and efficiency of proposed controller.

Źródło:

Archives of Control Sciences; 2014, 24, 4; 515-543
1230-2384

Pojawia się w:

Archives of Control Sciences

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 9.

Tytuł:

Sliding mode control system for an active current converter

Autorzy:

Efimov, Aleksandr
Nerć, Arkadiusz

Powiązania:

https://bibliotekanauki.pl/articles/24202507.pdf

Data publikacji:

2022

Wydawca:

Akademia Morska w Szczecinie. Wydawnictwo AMSz

Tematy:

ACC
ACS
SMC of ACC
DRNOC
MATLAB
Simulink

Opis:

In this study, a functional diagram for an automatic sliding mode control system for a three-phase bridge buck current converter was developed. To achieve this, a simulation program was created in MATLAB/Simulink which analyzed the dynamic performance of the developed automatic control system, operating in the active rectifier and network current inverter modes. The results present the mathematical modeling outputs, along with the analyzed control algorithm and the automatic control system of the buck current converter evaluated.

Źródło:

Zeszyty Naukowe Akademii Morskiej w Szczecinie; 2022, 69 (141); 37--44
1733-8670
2392-0378

Pojawia się w:

Zeszyty Naukowe Akademii Morskiej w Szczecinie

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 10.

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

/5

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Skocz do pozycji: 11.

Tytuł:

Fault identification in underwater vehicle thrusters via sliding mode observers

Autorzy:

Zuev, Alexander
Zhirabok, Alexey
Filaretov, Vladimir

Powiązania:

https://bibliotekanauki.pl/articles/1838162.pdf

Data publikacji:

2020

Wydawca:

Uniwersytet Zielonogórski. Oficyna Wydawnicza

Tematy:

underwater vehicle
thruster
fault identification
sliding mode observer
pojazd podwodny
identyfikacja uszkodzenia
sterowanie ślizgowe

Opis:

The paper is devoted to the problem of increasing the efficiency of underwater vehicles by using a fault diagnosis system for their thrusters which provides detection, isolation, and identification of minor faults. To address the problem, a two-stage method is proposed. At the first stage, a bank of diagnostic observers is designed to detect and isolate the emerging faults. Each observer in this bank is constructed to be sensitive to some set of faults and insensitive to others. At the second stage, additional observers working in sliding mode are synthesized in order to accurately estimate the error value in the signal obtained from the angular velocity sensor and to estimate deviations of the thruster parameters from their nominal values due to the faults. In contrast to the existing solutions, reduced-order (i.e., lower-dimensional) models of the original system are proposed as a basis to construct sliding mode observers. This approach permits reduction of the complexity of the obtained observers in comparison with the known methods, where full-order observers are constructed. The simulation results show the efficiency and high quality of all synthesized observers. In all cases considered, it was possible to detect typical faults, as well as estimate their values.

Źródło:

International Journal of Applied Mathematics and Computer Science; 2020, 30, 4; 679-688
1641-876X
2083-8492

Pojawia się w:

International Journal of Applied Mathematics and Computer Science

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 12.

Tytuł:

A reference trajectory based discrete time sliding mode control strategy

Autorzy:

Bartoszewicz, Andrzej
Adamiak, Katarzyna

Powiązania:

https://bibliotekanauki.pl/articles/330438.pdf

Data publikacji:

2019

Wydawca:

Uniwersytet Zielonogórski. Oficyna Wydawnicza

Tematy:

discrete time system
sliding mode control
reaching law
reference trajectory
układ dyskretno czasowy
sterowanie ślizgowe
trajektoria referencyjna

Opis:

This study presents a new, reference trajectory based sliding mode control strategy for disturbed discrete time dynamical systems. The desired trajectory, which is generated externally according to an existing switching type reaching law, determines the properties of the emerging sliding motion of the system. It is proved that an appropriate choice of the trajectory generator parameters ensures the existence of the quasi-sliding motion of the system according to the definition by Gao et al. (1995) in spite of the influence of disturbances. Moreover, the paper shows that the application of the desired trajectory based reaching law results in a significant reduction in the quasi-sliding mode band width and errors of all state variables. Therefore, in comparison with Gao’s control method, the system’s robustness is increased. The paper also presents an additional modification of the reaching law, which guarantees a further reduction in the quasi-sliding mode band in the case of slowly varying disturbances. The results are confirmed with a simulation example.

Źródło:

International Journal of Applied Mathematics and Computer Science; 2019, 29, 3; 517-525
1641-876X
2083-8492

Pojawia się w:

International Journal of Applied Mathematics and Computer Science

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 13.

Tytuł:

Application of fractional calculus in iterative sliding mode synchronization control

Autorzy:

Zhang, Xin
Wen-Ru, Lu
Zhang, Liang
Xu, Wen-Bo

Powiązania:

https://bibliotekanauki.pl/articles/141629.pdf

Data publikacji:

2020

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

cross-coupling control
fractional calculus
iterative learning control
PD control
robot arm
sliding mode control

Opis:

In order to control joints of manipulators with high precision, a position tracking control strategy combining fractional calculus with iterative learning control and sliding mode control is proposed for the control of a single joint of manipulators. Considering the coupling between joints of manipulators, a fractional-order iterative sliding mode crosscoupling control strategy is proposed and the theoretical proof of its progressive stability is given. The paper takes a two-joint manipulator as the research object to verify the control strategy of a single-joint manipulator. The results show that the control strategy proposed in this paper makes the two-joint mechanical arm chatter less and the tracking more accurate. The synchronous control of the manipulator is verified by a three-joint manipulator. The results show that the angular displacement adjustment times of the threejoint manipulator are 0.11 s, 0.31 s and 0.24 s, respectively. 3.25 s > 5 s, 3.15 s of a PD cross-coupling control strategy; 2.85 s, 2.32 s, 4.22 s of a PD iterative cross-coupling control strategy; 0.14 s, 0.33 s, 0.28 s of a fractional-order sliding mode cross-coupling control strategy. The root mean square error of the position error of the designed control strategy is 6.47 × 10−6 rad, 3.69 × 10−4 rad, 6.91 × 10−3 rad, respectively. The root mean square error of the synchronization error is 3.96×10−4 rad, 1.36×10−3 rad, 7.81×10−3 rad, superior to the other three control strategies. The results illustrate the effectiveness of the proposed control method.

Źródło:

Archives of Electrical Engineering; 2020, 69, 3; 499-519
1427-4221
2300-2506

Pojawia się w:

Archives of Electrical Engineering

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 14.

Tytuł:

Chaos synchronization of uncertain coronary artery systems through sliding mode

Autorzy:

Qian, D. W.
Xi, Y. F.
Tong, S. W.

Powiązania:

https://bibliotekanauki.pl/articles/201501.pdf

Data publikacji:

2019

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

chaos synchronization
coronary artery systems
sliding mode control
nonlinear dynamics
synchronizacja chaosu
system tętnic wieńcowych
kontroler trybu przesuwnego
dynamika nieliniowa

Opis:

The chaotic phenomena of coronary artery systems are hazardous to health and may induce illness development. From the perspective of engineering, the potential harm can be eliminated by synchronizing chaotic coronary artery systems with a normal one. This paper investigates the chaos synchronization problem in light of the methodology of sliding mode control (SMC). Firstly, the nonlinear dynamics of coronary artery systems are presented. Since the coronary artery systems suffer from uncertainties, the technique of derivative-integral terminal SMC is employed to achieve the chaos synchronization task. The stability of such a control system is proven in the sense of Lyapunov. To verify the feasibility and effectiveness of the proposed method, some simulation results are illustrated in comparison with a benchmark.

Źródło:

Bulletin of the Polish Academy of Sciences. Technical Sciences; 2019, 67, 3; 455-462
0239-7528

Pojawia się w:

Bulletin of the Polish Academy of Sciences. Technical Sciences

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 15.

Tytuł:

Adaptive Neuro-Sliding Mode Control of PUMA 560 Robot Manipulator

Autorzy:

Medjebouri, A.
Mehennaoui, L.

Powiązania:

https://bibliotekanauki.pl/articles/384592.pdf

Data publikacji:

2016

Wydawca:

Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów

Tematy:

Puma 560
position control
NN
SMC
robustness
chattering

Opis:

The classical sliding mode control (SMC) is a robust control scheme widely used for dealing with nonlinear systems uncertainties and disturbances. However, the conventional SMC major drawback in real applications is the chattering phenomenon problem, which involves extremely high control activity due to the switched control input. To overcome this handicap, a pratical design method that combines an adaptive neural network and sliding mode control principles is proposed in this paper. The controller design is divided into two phases. First, the chattering phenomenon is removed by replacing the sign function included in the switched control by a continuous smooth function; basing on Lyapounov stability theorem. Then, an adaptive linear neural network, that has the role of online estimate the equivalent control in the neighborhood of the sliding manifold, is developed when the controlled plant is poorly modeled. Simulation results show clearly the satisfactory chattering free tracking performance of proposed controller when it is applied for the joints angular positions control of a 6-DOF PUMA 560 robot arm.

Źródło:

Journal of Automation Mobile Robotics and Intelligent Systems; 2016, 10, 4; 8-16
1897-8649
2080-2145

Pojawia się w:

Journal of Automation Mobile Robotics and Intelligent Systems

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 16.

Tytuł:

Filtered integral sliding mode control in a two-mass drive system

Autorzy:

Dróżdż, P.
Szabat, K.

Powiązania:

https://bibliotekanauki.pl/articles/1193310.pdf

Data publikacji:

2017

Wydawca:

Politechnika Wrocławska. Oficyna Wydawnicza Politechniki Wrocławskiej

Tematy:

filtered integral sliding mode control
integral sliding mode control
two-mass system
chattering alleviation

Opis:

The paper presents issues related to the application of filtered integral sliding mode control to a two-mass drive system. A classical control structure has been presented and its design procedure is shown in detail. The properties of the classical structure, in which the chattering phenomenon seems to be a big drawback, have been summarized. In order to eliminate this phenomenon, an output low-pass filter has been proposed and the performance of this system has been tested. In order to improve its characteristics, an adaptive low-pass filter has been proposed. The bandwidth of the filter was changed on-line by the fuzzy system according to the current state of the plant. During the steady-states, the bandwidth is low to eliminate chattering effect, and during transients higher in order to ensure the fast dynamics of the plant.

Źródło:

Power Electronics and Drives; 2017, 2, 37/1; 121-134
2451-0262
2543-4292

Pojawia się w:

Power Electronics and Drives

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 17.

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

/5

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Skocz do pozycji: 18.

Tytuł:

Sliding mode tracking control for unmanned helicopter using extended disturbance observer

Autorzy:

Ullah, Ihsan
Pei, Hai-Long

Powiązania:

https://bibliotekanauki.pl/articles/229728.pdf

Data publikacji:

2019

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

unmanned helicopter
external disturbances
sliding mode control
extended disturbance observer
mismatched uncertainty

Opis:

This paper presents a robust control technique for small-scale unmanned helicopters to track predefined trajectories (velocities and heading) in the presence of bounded external disturbances. The controller design is based on the linearized state-space model of the helicopter. The multivariable dynamics of the helicopter is divided into two subsystems, longitudinallateral and heading-heave dynamics respectively. There is no strong coupling between these two subsystems and independent controllers are designed for each subsystem. The external disturbances and model mismatch in the longitudinal-lateral subsystem are present in all (matched and mismatched) channels. This model mismatch and external disturbances are estimated as lumped disturbances using extended disturbance observer and an extended disturbance observer based sliding mode controller is designed for it to counter the effect of these disturbances. In the case of heading-heave subsystem, external disturbances and model mismatch only occur in matched channels so a second order sliding mode controller is designed for it as it is insensitive to matched uncertainties. The control performance is successfully tested in Simulink.

Źródło:

Archives of Control Sciences; 2019, 29, 1; 169-199
1230-2384

Pojawia się w:

Archives of Control Sciences

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 19.

Tytuł:

Fractional Order Sliding Mode Speed Control of Feedback Linearized Induction Motor

Autorzy:

Fetene, Yeshiwas
Shibeshi, Dereje

Powiązania:

https://bibliotekanauki.pl/articles/1193868.pdf

Data publikacji:

2020

Wydawca:

Politechnika Wrocławska. Oficyna Wydawnicza Politechniki Wrocławskiej

Tematy:

induction motor
input-output feedback
linearization
fractional-order sliding mode controller
SVPWM
load torque observer

Opis:

Induction machines have of late become the most popular workhorses in the industry replacing DC machines because of their advantages, such as reduced cost, reliability and the absence of commutators, which make them adapt to unfavourable conditions with lower maintenance requirement. However, higher-order models of AC machines, nonlinearities in model equations, uncertainties in parameters and load disturbances make induction motors difficult to control than that of DC motors. In this paper, a robust control strategy considering the recent advances in technology is proposed employing input-output feedback linearization for the exact decoupling of electromagnetic torque and rotor flux using fractional-order sliding mode controller (SMC) for the outer speed loop. The sliding mode observer is also designed to extract the rotor flux from the DC input voltage of the inverter and stator current measurements. Finally, a comparison between the commonly used proportional integral and derivative (PID) controller and the proposed fractional-order SMCs is made and the conclusion is reached.

Źródło:

Power Electronics and Drives; 2020, 5, 40; 109-122
2451-0262
2543-4292

Pojawia się w:

Power Electronics and Drives

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 20.

Tytuł:

Sliding Mode Control for a Gyroscope System
Sterowanie ślizgowe układem giroskopowym

Autorzy:

Krzysztofik, I.
Koruba, Z.

Powiązania:

https://bibliotekanauki.pl/articles/403831.pdf

Data publikacji:

2017

Wydawca:

Wojskowa Akademia Techniczna im. Jarosława Dąbrowskiego

Tematy:

mechanical engineering
controlled gyroscope
sliding mode controller
dynamics
control
mechanika
giroskop sterowany
regulator ślizgowy
dynamika
sterowanie

Opis:

This paper presents a mathematical model of a gyroscope system with a sliding mode controller. A comparative analysis based on various control algorithms implemented in a controlled gyroscope system installed on a mobile platform (such as an UAV or a homing rocket missile) proved that sliding mode control can be highly effective, especially when external input interferences exist with the kinematic reactions of the mobile platform. A gyroscope system with a sliding mode controller can be used in the optical target seeker systems of precision weapons. The simulation results are provided in a graphical format.
W pracy przedstawiono model matematyczny układu giroskopowego wraz z regulatorem ślizgowym. Analiza porównawcza różnych algorytmów sterowania zastosowanych w sterowanym układzie giroskopowym umieszczonym na ruchomej podstawie (np. na pokładzie bezzałogowego aparatu latającego lub samonaprowadzającego pocisku rakietowego) wykazała, że najbardziej efektywne jest sterowanie ślizgowe, zwłaszcza w warunkach występowania zakłóceń zewnętrznych i kinematycznego oddziaływania podłoża. Tego rodzaju układ może znaleźć zastosowanie w optycznych koordynatorach celu broni precyzyjnego rażenia. Wyniki badań symulacyjnych przedstawione zostały w graficznej postaci.

Źródło:

Problemy Mechatroniki : uzbrojenie, lotnictwo, inżynieria bezpieczeństwa; 2017, 8, 4 (30); 47-60
2081-5891

Pojawia się w:

Problemy Mechatroniki : uzbrojenie, lotnictwo, inżynieria bezpieczeństwa

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 21.

Tytuł:

Discrete-time sliding mode control of linear systems with input saturation

Autorzy:

Veselić, Boban
Milosavljević, Čedomir
Peruničić-Draženović, Branislava
Huseinbegović, Senad
Petronijević, Milutin

Powiązania:

https://bibliotekanauki.pl/articles/330574.pdf

Data publikacji:

2020

Wydawca:

Uniwersytet Zielonogórski. Oficyna Wydawnicza

Tematy:

discrete time sliding mode control
super twisting controller
input saturation
disturbance compensation
sterowanie ślizgowe
nasycenie wejściowe
kompensacja zakłóceń

Opis:

The paper proposes a discrete-time sliding mode controller for single input linear dynamical systems, under requirements of the fast response without overshoot and strong robustness to matched disturbances. The system input saturation is imposed during the design due to inevitable limitations of most actuators. The system disturbances are compensated by employing nonlinear estimation by integrating the signum of the sliding variable. Hence, the proposed control structure may be regarded as a super-twisting-like algorithm. The designed system stability is analyzed as well as the sliding manifold convergence conditions are derived using a discrete-time model of the system in the δ-domain. The results obtained theoretically have been verified by computer simulations.

Źródło:

International Journal of Applied Mathematics and Computer Science; 2020, 30, 3; 517-528
1641-876X
2083-8492

Pojawia się w:

International Journal of Applied Mathematics and Computer Science

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 22.

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

/5

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Skocz do pozycji: 23.

Tytuł:

Control and optimisation of photovoltaic water pumping system using sliding mode

Autorzy:

Zarour, L.
Abed, K.
Hacil, M.
Borni, A.

Powiązania:

https://bibliotekanauki.pl/articles/200899.pdf

Data publikacji:

2019

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

photovoltaic pumping system modelling
optimization
maximum power point
MPPT
sliding mode control
optymalizacja
maksymalny punkt mocy

Opis:

A sliding mode controller for the photovoltaic pumping system has been proposed in this paper. This system is composed of a?photovoltaic generator supplying a?three-phase permanent magnet synchronous motor coupled to a?centrifugal pump through a?three-phase voltage inverter. The objective of this study is to minimise the number of regulators and apply the sliding mode control by exploiting the specification of the field oriented control scheme (FOC). The first regulator is used to force the photovoltaic generator to operate at the maximum power point, while the second is used to provide the field oriented control to improve the system performance.The whole system is analysed and its mathematical model is done. Matlab is used to validate the performance and robustness of the proposed control strategy.

Źródło:

Bulletin of the Polish Academy of Sciences. Technical Sciences; 2019, 67, 3; 605-611
0239-7528

Pojawia się w:

Bulletin of the Polish Academy of Sciences. Technical Sciences

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 24.

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

/5

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Skocz do pozycji: 25.

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

/5

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Skocz do pozycji: 26.

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

/5

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Skocz do pozycji: 27.

Tytuł:

High performance backstepping control of induction motor with adaptive sliding mode observer

Autorzy:

Bakhti, I.
Chaouch, S.
Maakouf, A.

Powiązania:

https://bibliotekanauki.pl/articles/229996.pdf

Data publikacji:

2011

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

induction motor
backstepping control
sliding mode
flux observer design
estimation
sensorless control

Opis:

It is well known that modern control of induction motor relies on a good dynamic model of the motor. Extensive research and activity have been devoted to the problem of induction motor control over the last decade. In this paper we introduce backstepping control with amelioration of performance to guarantee stability of the system. Accurate knowledge of the rotor speed and flux position is the key factor in obtaining a high-performance and high-efficiency induction-motor drive. Thus a sliding mode observer design is presented. Simulation results are included to illustrate good performance of backstepping control of sensorless induction motors with flux observer.

Źródło:

Archives of Control Sciences; 2011, 21, 3; 331-344
1230-2384

Pojawia się w:

Archives of Control Sciences

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 28.

Tytuł:

Model Predictive Super-twisting sliding mode control for an autonomous surface vehicle

Autorzy:

Esfahani, Hossein Nejatbakhsh
Szlapczynski, Rafal

Powiązania:

https://bibliotekanauki.pl/articles/260526.pdf

Data publikacji:

2019

Wydawca:

Politechnika Gdańska. Wydział Inżynierii Mechanicznej i Okrętownictwa

Tematy:

utonomous Surface Vehicle
Model Predictive Control
Sliding Mode Control
Super-Twisting Algorithm
Chattering Attenuation

Opis:

This paper presents a new robust Model Predictive Control (MPC) algorithm for trajectory tracking of an Autonomous Surface Vehicle (ASV) in presence of the time-varying external disturbances including winds, waves and ocean currents as well as dynamical uncertainties. For fulfilling the robustness property, a sliding mode control-based procedure for designing of MPC and a super-twisting term are adopted. The MPC algorithm has been known as an effective approach for the implementation simplicity and its fast dynamic response. The proposed hybrid controller has been implemented in MATLAB / Simulink environment. The results for the combined Model Predictive Super-Twisting Sliding Mode Control (MP-STSMC) algorithm have shown that it significantly outperforms conventional MPC algorithm in terms of the transient response, robustness and steady state response and presents an effective chattering attenuation in comparison with the Super-Twisting Sliding Mode Control (STSMC) algorithm.

Źródło:

Polish Maritime Research; 2019, 3; 163-171
1233-2585

Pojawia się w:

Polish Maritime Research

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 29.

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

/5

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Skocz do pozycji: 30.

Tytuł:

LMI-based adaptive fuzzy integral sliding mode control of mismatched uncertain systems

Autorzy:

Mnasri, C.
Gasmi, M.

Powiązania:

https://bibliotekanauki.pl/articles/930163.pdf

Data publikacji:

2011

Wydawca:

Uniwersytet Zielonogórski. Oficyna Wydawnicza

Tematy:

sterowanie rozmyte
sterowanie ślizgowe
liniowa nierówność macierzowa
system niepewny
adaptive fuzzy control
integral sliding mode
LMI
mismatched uncertainties

Opis:

Integral sliding mode design is considered for a class of uncertain systems in the presence of mismatched uncertainties in both state and input matrices, as well as norm-bounded nonlinearities and external disturbances. A sufficient condition for the robust stability of the sliding manifold is derived by means of linear matrix inequalities. The initial existence of the sliding mode is guaranteed by the proposed control law. The improvement of the proposed control scheme performances, such as chattering elimination and estimation of norm bounds of uncertainties, is then considered with the application of an adaptive fuzzy integral sliding mode control law. The validity and efficiency of the proposed approaches are investigated through a sixth order uncertain mechanical system.

Źródło:

International Journal of Applied Mathematics and Computer Science; 2011, 21, 4; 605-615
1641-876X
2083-8492

Pojawia się w:

International Journal of Applied Mathematics and Computer Science

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 31.

Tytuł:

Design and implementation of improved sliding mode controller on 6R manipulator

Autorzy:

Korayem, M. H.
Nekoo, S. R.
Khademi, A.
Abdollahi, F.

Powiązania:

https://bibliotekanauki.pl/articles/280702.pdf

Data publikacji:

2017

Wydawca:

Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej

Tematy:

improved sliding mode control
chattering
DLCC
hardware implementation

Opis:

In this work, we present an improved sliding mode control (ISMC) technique designed and implemented for control of 6R manipulator. Sliding mode control (SMC) is a well-known nonlinear robust method for controlling systems in the presence of uncertainties and disturbances and systems with complex dynamics as in manipulators. Despite this good property, it is difficult to implement this method for the manipulator with a complex structure and more than three degree-of-freedom because of the complicated and massive equation and chattering phenomenon as a property of SMC in control inputs. Here, the chattering phenomenon is eliminated by using an effective algorithm called ISMC and implemented to 6R manipulator by using a low-cost control board based on an ARM microcontroller with high accuracy and memory. The carrying load is considered as the uncertainty for the manipulator, while the dynamic load carrying capacity (DLCC) is considered as a robot performance criterion showing robustness of the controller. The results of simulations and experiments show that the proposed approach has a good performance and is suitable and practical to be applied for manipulators.

Źródło:

Journal of Theoretical and Applied Mechanics; 2017, 55, 1; 265-280
1429-2955

Pojawia się w:

Journal of Theoretical and Applied Mechanics

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 32.

Tytuł:

Robust continuous third-order finite time sliding mode controllers for exoskeleton robot

Autorzy:

Fellag, Ratiba
Guiatni, Mohamed
Hamerlain, Mustapha
Achour, Noura

Powiązania:

https://bibliotekanauki.pl/articles/1845025.pdf

Data publikacji:

2021

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

exoskeleton robot
higher order
sliding control
homogeneous
robust
trajectory tracking
rehabilitation

Opis:

In this work, continuous third-order sliding mode controllers are presented to control a five degrees-of-freedom (5-DOF) exoskeleton robot. This latter is used in physiotherapy rehabilitation of upper extremities. The aspiration is to assist the movements of patients with severe motor limitations. The control objective is then to design adept controllers to follow desired trajectories smoothly and precisely. Accordingly, it is proposed, in this work, a class of homogeneous algorithms of sliding modes having finite-time convergence properties of the states. They provide continuous control signals and are robust regardless of non-modeled dynamics, uncertainties and external disturbances. A comparative study with a robust finite-time sliding mode controller proposed in literature is performed. Simulations are accomplished to investigate the efficacy of these algorithms and the obtained results are analyzed.

Źródło:

Archive of Mechanical Engineering; 2021, LXVIII, 4; 395-414
0004-0738

Pojawia się w:

Archive of Mechanical Engineering

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 33.

Tytuł:

Synchronization of fractional order Rabinovich-Fabrikant systems using sliding mode control techniques

Autorzy:

Kumar, Sanjay
Singh, Chaman
Prasad, Sada Nand
Shekhar, Chandra
Aggarwal, Rajiv

Powiązania:

https://bibliotekanauki.pl/articles/229902.pdf

Data publikacji:

2019

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

fractional-order chaotic system
chaos synchronization
Rabinovich-Fabrikant system
Lyapunov exponents

Opis:

In this research article, we present the concepts of fractional-order dynamical systems and synchronization methodologies of fractional order chaotic dynamical systems using slide mode control techniques. We have analysed the different phase portraits and time-series graphs of fractional order Rabinovich-Fabrikant systems. We have obtained that the lowest dimension of Rabinovich-Fabrikant system is 2.85 through utilization of the fractional calculus and computational simulation. Bifurcation diagrams and Lyapunov exponents of fractional order Rabinovich-Fabrikant system to justify the chaos in the systems. Synchronization of two identical fractional-order chaotic Rabinovich-Fabrikant systems are achieved using sliding mode control methodology.

Źródło:

Archives of Control Sciences; 2019, 29, 2; 307-322
1230-2384

Pojawia się w:

Archives of Control Sciences

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 34.

Tytuł:

Neural-sliding mode augmented robust controller for autolanding of fixed wing aircraft

Autorzy:

Ismail, I.
Pashilkar, A. A.
Ayyagari, R.
Sundararajan, N.

Powiązania:

https://bibliotekanauki.pl/articles/91533.pdf

Data publikacji:

2012

Wydawca:

Społeczna Akademia Nauk w Łodzi. Polskie Towarzystwo Sieci Neuronowych

Tematy:

controller
nonlinear dynamic inversion
control signal
phase compensator
antiwindup scheme
wing aircraft
autolanding

Opis:

Neural and sliding mode controllers are generally based on the principle of nonlinear dynamic inversion. This leads to control signals containing high frequency components. This can result in actuator rate limiting due to loss of phase at higher frequencies. Large control inputs, for example due to the saturation component of the sliding mode controller can also result in position saturation of the actuator. In this paper we show that by the introduction of suitable phase compensators and an antiwindup scheme the neuralaided sliding mode controller performance can be improved. A novel scheme is proposed for the cascaded feedback controller which addresses practical requirements of both state limiting and control surface saturation respectively.

Źródło:

Journal of Artificial Intelligence and Soft Computing Research; 2012, 2, 4; 317-330
2083-2567
2449-6499

Pojawia się w:

Journal of Artificial Intelligence and Soft Computing Research

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 35.

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

/5

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Skocz do pozycji: 36.

Tytuł:

Sterowanie ślizgowe w układzie połączonych zbiorników
Sliding mode control in coupled tanks system

Autorzy:

Tomera, M.

Powiązania:

https://bibliotekanauki.pl/articles/266572.pdf

Data publikacji:

2014

Wydawca:

Politechnika Gdańska. Wydział Elektrotechniki i Automatyki

Tematy:

sterowanie ślizgowe
rozszerzony filtr Kalmana
układ połączonych zbiorników
sliding mode control
extended Kalman filter
coupled tank systems

Opis:

W pracy przedstawiony został układ regulacji poziomu wody wykorzystujący sterowanie ślizgowe. Zaprezentowany algorytm sterowania ślizgowego opiera się na nieliniowej powierzchni ślizgania pierwszego rzędu. Niedogodnością sterowania ślizgowego są efekty częstych przełączeń sygnału sterowania, co niekorzystnie wpływa na trwałość i pracę urządzenia wykonawczego, w tym przypadku pompy. W celu usunięcia tej niedogodności w regulatorze ślizgowym, zamiast funkcji przekaźnikowej została zastosowana funkcja ograniczająca, wprowadzająca warstwę graniczną na powierzchni ślizgowej, co powoduje zlikwidowanie oscylacji (chatteringu). Na działanie algorytmu sterowania ślizgowego bardzo niekorzystnie wpływają również szumy pomiarowe, które usunięte zostały poprzez zastosowanie rozszerzonego filtru Kalmana. Ocena jakości pracy zaprojektowanego regulatora ślizgowego przeprowadzona została w oparciu o badania symulacyjne. Uzyskaną jakość pracy zaprojektowanego regulatora ślizgowego porównano z układem równoważnym zawierającym regulator liniowy PID.
The paper presents a system to control water level using sliding mode. The presented sliding mode control algorithm is based on a non-linear sliding surface of the first order. The drawback of sliding mode control are effects of frequent switching of control signal, what adversely affects the stability and the operation of the actuator, in this case the pump. In order to remove this drawback in the slide control instead of the relay function, the limiting function was applied, introducing a constraining layer on the slide surface, thereby causing chattering. The behavior of the sliding mode control algorithm is very adversely affected by the measurement noises, which were removed using the extended Kalman filter. Evaluation of the work quality of designed sliding mode control was carried out based on the simulation test. Obtained work quality of the designed sliding mode control was compared with the equivalent system containing linear PID controller.

Źródło:

Zeszyty Naukowe Wydziału Elektrotechniki i Automatyki Politechniki Gdańskiej; 2014, 40; 111-118
1425-5766
2353-1290

Pojawia się w:

Zeszyty Naukowe Wydziału Elektrotechniki i Automatyki Politechniki Gdańskiej

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 37.

Tytuł:

Dead-beat and reaching-law-based sliding-mode control of perishable inventory systems

Autorzy:

Ignaciuk, P.
Bartoszewicz, A.

Powiązania:

https://bibliotekanauki.pl/articles/202382.pdf

Data publikacji:

2011

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

sliding-mode control
inventory control
perishable inventories
discrete-time control systems

Opis:

In this paper we consider the problem of efficient control of inventory systems with perishable goods. In the analyzed setting the deteriorating stock at a distribution center used to fulfill unknown, time-varying demand is replenished with delay from a supply source. The challenging issue is to achieve the high service level with minimum costs when the replenishment orders are procured with lead-time delay spanning multiple review periods. On the contrary to the typical heuristic approaches, we apply formal methodology based on discrete-time sliding-mode (SM) control. The proposed SM controller with the sliding plane selected for a dead-beat scheme ensures that the maximum service level is obtained in the system with arbitrary delay and any bounded demand pattern. In order to account for the supplier capacity limitations in the systems with input constraints, we also develop an alternative control strategy based on reaching law. Both controllers achieve a given service level with smaller holding costs and reduced order-to-demand variance ratio as compared to the classical order-up-to policy.

Źródło:

Bulletin of the Polish Academy of Sciences. Technical Sciences; 2011, 59, 1; 39-49
0239-7528

Pojawia się w:

Bulletin of the Polish Academy of Sciences. Technical Sciences

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 38.

Tytuł:

Finite-time integral sliding mode control for chaotic permanent magnet synchronous motor systems

Autorzy:

Chibani, A.
Daaou, B.
Gouichiche, A.
Safa, A.
Messlem, Y.

Powiązania:

https://bibliotekanauki.pl/articles/140698.pdf

Data publikacji:

2017

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

chaos control
control chaotic Permanent Magnet Synchronous Motor
finite-time
sliding mode

Opis:

In this paper, an integral finite-time sliding mode control scheme is presented for controlling a chaotic permanent magnet synchronous motor (PMSM). The controller can stabilize the system output tracking error to zero in a finite time. Using Lyapunov’s stability theory, the stability of the proposed scheme is verified. Numerical simulation results are presented to present the effectiveness of the proposed approach.

Źródło:

Archives of Electrical Engineering; 2017, 66, 2; 229-239
1427-4221
2300-2506

Pojawia się w:

Archives of Electrical Engineering

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 39.

Tytuł:

Firefly algorithm optimization of manipulator robotic control based on fast terminal sliding mode

Autorzy:

Mallem, Ali
Douak, Fouzi
Benaziza, Walid
Bounouara, Asma

Powiązania:

https://bibliotekanauki.pl/articles/27314236.pdf

Data publikacji:

2022

Wydawca:

Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów

Tematy:

manipulator robotic
fast terminal sliding mode
firefly algorithm
Lyapunov stability

Opis:

In this paper a new algorithm of optimization in the field of manipulator robotic control is presented. The proposed control approach is based on fast terminal sliding mode control (FTSMC), in order to guarantee the convergence of the position articulations errors to zero in finite time without chattering phenomena, and the Firefly algorithm in order to generate the optimal parameters that ensure minimum reaching time and mean square error and achieve better performances. This ensures the asymptotic stability of the system using a Lyapunov candidate in the presence of disturbances. The simulations are applied on a two-link robotic manipulator with different tracking references by using Matlab/ Simulink. Results show the efficiency and confirm the robustness of the proposed control strategy.

Źródło:

Journal of Automation Mobile Robotics and Intelligent Systems; 2022, 16, 4; 44--52
1897-8649
2080-2145

Pojawia się w:

Journal of Automation Mobile Robotics and Intelligent Systems

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 40.

Tytuł:

Backstepping sliding mode controller improved with fuzzy logic: Application to the quadrotor helicopter

Autorzy:

Zeghlache, S.
Saigaa, D.
Harrag, A.
Kara, K.
Bouguerra, A.

Powiązania:

https://bibliotekanauki.pl/articles/229480.pdf

Data publikacji:

2012

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

fuzzy sliding mode
backstepping
quadrotor helicopter
dynamic modeling

Opis:

n this paper we present a new design method for the fight control of an autonomous quadrotor helicopter based on fuzzy sliding mode control using backstepping approach. Due to the underactuated property of the quadrotor helicopter, the controller can move three positions (x;y; z) of the helicopter and the yaw angle to their desired values and stabilize the pitch and roll angles. A first-order nonlinear sliding surface is obtained using the backstepping technique, on which the developed sliding mode controller is based. Mathematical development for the stability and convergence of the system is presented. The main purpose is to eliminate the chattering phenomenon. Thus we have used a fuzzy logic control to generate the hitting control signal. The performances of the nonlinear control method are evaluated by simulation and the results demonstrate the effectiveness of the proposed control strategy for the quadrotor helicopter in vertical flights.

Źródło:

Archives of Control Sciences; 2012, 22, 3; 315-342
1230-2384

Pojawia się w:

Archives of Control Sciences

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 41.

Tytuł:

Model‐free sliding mode control for a nonlinear teleoperation system with actuator dynamics

Autorzy:

Abdelwaheb, Henni Mansour
Abderrahmane, Kacimi
AEK, Belaidi

Powiązania:

https://bibliotekanauki.pl/articles/27314234.pdf

Data publikacji:

2023

Wydawca:

Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów

Tematy:

model free sliding mode controller
teleoperation robotic system
actuator dynamics
time-varying delay
model uncertainty

Opis:

Teleoperation robotic systems control, which enables humans to perform activities in remote situations, has become an extremely challenging field in recent decades. In this paper, a Model Free Proportional‐Derivative Slid‐ ing Mode Controller (MFPDSMC) is devoted to the syn‐ chronization problem of teleoperation systems subject to actuator dynamics, time‐varying delay, model uncer‐ tainty, and input interaction forces. For the first time, the teleoperation model used in this study combines actuator dynamics and manipulator models into a single equation, which improves model accuracy and brings it closer to the actual system than in prior studies. Further, the proposed control approach, called Free, involves the simple mea‐ surement of inputs and outputs to enhance the system’s performance without relying on any knowledge from the mathematical model. In addition, our strategy includes a Sliding Mode term with the MFPD term to increase system stability and attain excellent performance against external disturbances. Finally, using the Lyapunov func‐ tion under specified conditions, asymptotic stability is established, and simulation results are compared and provided to demonstrate the efficacy of the proposed strategy.

Źródło:

Journal of Automation Mobile Robotics and Intelligent Systems; 2023, 17, 1; 69--77
1897-8649
2080-2145

Pojawia się w:

Journal of Automation Mobile Robotics and Intelligent Systems

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 42.

Tytuł:

Fault detection for DFIG based on sliding mode observer of new reaching law

Autorzy:

Li, RuiQi
Yu, WenXin
Wang, JunNian
Lu, Yang
Jiang, Dan
Zhong, GuoLiang
Zhou, ZuanBo

Powiązania:

https://bibliotekanauki.pl/articles/2128165.pdf

Data publikacji:

2021

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

fault detection
doubly-fed induction generator
sliding mode observer
new reaching law
wykrywanie uszkodzeń
generator indukcyjny dwustronnie zasilany
obserwator w trybie przesuwnym
nowe prawo osiągania

Opis:

For fault detection of doubly-fed induction generator (DFIG), in this paper, a method of sliding mode observer (SMO) based on a new reaching law (NRL) is proposed. The SMO based on the NRL (NRL- SMO) theoretically eliminates system chatter caused by the reaching law and can be switched in time with system interference in terms of robustness and smoothness. In addition, the sliding mode control law is used as the index of fault detection. Firstly, this paper gives the NRL with the theoretically analyzes. Secondly, according to the mathematical model of DFIG, NRL-SMO is designed, and its analysis of stability and robustness are carried out. Then this paper describes how to choose the optimal parameters of the NRL-SMO. Finally, three common wind turbine system faults are given, which are DFIG inter-turn stator fault, grid voltage drop fault, and rotor current sensor fault. The simulation models of the DFIG under different faults is established. The simulation results prove that the superiority of the method of NRL-SMO in state tracking and the feasibility of fault detection.

Źródło:

Bulletin of the Polish Academy of Sciences. Technical Sciences; 2021, 69, 3; e137389, 1--13
0239-7528

Pojawia się w:

Bulletin of the Polish Academy of Sciences. Technical Sciences

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 43.

Tytuł:

Fault detection for DFIG based on sliding mode observer of new reaching law

Autorzy:

Li, RuiQi
Yu, WenXin
Wang, JunNian
Lu, Yang
Jiang, Dan
Zhong, GuoLiang
Zhou, ZuanBo

Powiązania:

https://bibliotekanauki.pl/articles/2173629.pdf

Data publikacji:

2021

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

fault detection
doubly-fed induction generator
sliding mode observer
new reaching law
wykrywanie uszkodzeń
generator indukcyjny dwustronnie zasilany
obserwator w trybie przesuwnym
nowe prawo osiągania

Opis:

For fault detection of doubly-fed induction generator (DFIG), in this paper, a method of sliding mode observer (SMO) based on a new reaching law (NRL) is proposed. The SMO based on the NRL (NRL- SMO) theoretically eliminates system chatter caused by the reaching law and can be switched in time with system interference in terms of robustness and smoothness. In addition, the sliding mode control law is used as the index of fault detection. Firstly, this paper gives the NRL with the theoretically analyzes. Secondly, according to the mathematical model of DFIG, NRL-SMO is designed, and its analysis of stability and robustness are carried out. Then this paper describes how to choose the optimal parameters of the NRL-SMO. Finally, three common wind turbine system faults are given, which are DFIG inter-turn stator fault, grid voltage drop fault, and rotor current sensor fault. The simulation models of the DFIG under different faults is established. The simulation results prove that the superiority of the method of NRL-SMO in state tracking and the feasibility of fault detection.

Źródło:

Bulletin of the Polish Academy of Sciences. Technical Sciences; 2021, 69, 3; art. no. e137389
0239-7528

Pojawia się w:

Bulletin of the Polish Academy of Sciences. Technical Sciences

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 44.

Tytuł:

Robust estimation based nonlinear higher order sliding mode control strategies for PMSG-WECS

Autorzy:

Nazir, Awais
Khan, Safdar Abbas
Khan, Malak Adnan
Alam, Zaheer
Khan, Imran
Irfan, Muhammad
Rehman, Saifur
Nowakowski, Grzegorz

Powiązania:

https://bibliotekanauki.pl/articles/27311430.pdf

Data publikacji:

2023

Wydawca:

Polska Akademia Nauk. Czasopisma i Monografie PAN

Tematy:

wind energy conversion systems
WECS
robust control
maximum power point tracking
MPPT
sliding mode control
SMC
super-twisting algorithm
STA
high gain observer
artificial neural network
ANN
function fitting
backstepping
śledzenie maksymalnego punktu mocy
obserwator o dużym wzmocnieniu
sztuczna sieć neuronowa
dopasowanie funkcji
system konwersji energii wiatrowej
sterowanie odporne
sterowanie ślizgowe
algorytm super skręcania

Opis:

The wind energy conversion systems (WECS) suffer from an intermittent nature of source (wind) and the resulting disparity between power generation and electricity demand. Thus, WECS are required to be operated at maximum power point (MPP). This research paper addresses a sophisticated MPP tracking (MPPT) strategy to ensure optimum (maximum) power out of the WECS despite environmental (wind) variations. This study considers a WECS (fixed pitch, 3KW, variable speed) coupled with a permanent magnet synchronous generator (PMSG) and proposes three sliding mode control (SMC) based MPPT schemes, a conventional first order SMC (FOSMC), an integral back-stepping-based SMC (IBSMC) and a super-twisting reachability-based SMC, for maximizing the power output. However, the efficacy of MPPT/control schemes rely on availability of system parameters especially, uncertain/nonlinear dynamics and aerodynamic terms, which are not commonly accessible in practice. As a remedy, an off-line artificial function-fitting neural network (ANN) based on Levenberg-Marquardt algorithm is employed to enhance the performance and robustness of MPPT/control scheme by effectively imitating the uncertain/nonlinear drift terms in the control input pathways. Furthermore, the speed and missing derivative of a generator shaft are determined using a high-gain observer (HGO). Finally, a comparison is made among the stated strategies subjected to stochastic and deterministic wind speed profiles. Extensive MATLAB/Simulink simulations assess the effectiveness of the suggested approaches.

Źródło:

Bulletin of the Polish Academy of Sciences. Technical Sciences; 2023, 71, 5; art. no. e147063
0239-7528

Pojawia się w:

Bulletin of the Polish Academy of Sciences. Technical Sciences

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 45.

Tytuł:

Sliding mode control of periodic review perishable inventories with multiple suppliers and transportation losses

Autorzy:

Bartoszewicz, A.
Maciejewski, M.

Powiązania:

https://bibliotekanauki.pl/articles/200764.pdf

Data publikacji:

2013

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

discrete time sliding mode control
sliding surface design
inventory control

Opis:

The purpose of this paper is to develop robust and computationally efficient supply chain management strategy ensuring fast reaction to the demand variations for periodic review perishable inventory systems. For that purpose, we apply a sliding mode approach and we propose a new discrete time warehouse management strategy. The strategy employs the sliding hyperplane appropriately designed to ensure a dead-beat performance of the closed loop system. Our strategy not only explicitly takes into account decay of goods stored in the warehouse (perishing inventories) but it also accounts for transportation losses which take place on the way from suppliers to the warehouse. The proposed strategy ensures full customers’ demand satisfaction, minimizes the on-hand inventory volume and prevents from exceeding the warehouse capacity. This reflects the need of simultaneous minimization of the lost sales costs and inventory holding costs. Furthermore, the strategy ensures that the ordered quantities of goods are always non-negative and upper bounded. These favourable properties of the proposed strategy are formally stated as a lemma and three theorems and proved in the paper.

Źródło:

Bulletin of the Polish Academy of Sciences. Technical Sciences; 2013, 61, 4; 885-892
0239-7528

Pojawia się w:

Bulletin of the Polish Academy of Sciences. Technical Sciences

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 46.

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

/5

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Skocz do pozycji: 47.

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

/5

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Skocz do pozycji: 48.

Tytuł:

Sliding mode speed control of an induction motor drive using time-varying switching line

Autorzy:

Tarchała, G.

Powiązania:

https://bibliotekanauki.pl/articles/1193307.pdf

Data publikacji:

2017

Wydawca:

Politechnika Wrocławska. Oficyna Wydawnicza Politechniki Wrocławskiej

Tematy:

sliding mode control
equivalent control
induction motor
speed controller
time-varying switching line

Opis:

An equivalent sliding mode control method of an induction motor speed has been discussed. The control signal consists of two parts: a continuous and discontinuous one. Very good dynamical response of the drive system has been obtained, which however changes influenced by external and parametric disturbances occurring under various operation conditions. In order to ensure identical dynamic performance of the speed transients and system robustness during the switching line reaching phase, regardless of external and parametric disturbances, the time-varying switching line is proposed. The simulation results have been validated by experimental tests of the induction motor drive system.

Źródło:

Power Electronics and Drives; 2017, 2, 37/1; 105-120
2451-0262
2543-4292

Pojawia się w:

Power Electronics and Drives

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 49.

Tytuł:

High-performance induction motor drive based on adaptive super-twisting sliding mode control approach

Autorzy:

Farhi, Salah Eddine
Sakri, Djamel
Goléa, Noureddine

Powiązania:

https://bibliotekanauki.pl/articles/2042783.pdf

Data publikacji:

2022

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

barrier function
chattering
gains adaptation
induction motor drive
sliding mode control
super twisting

Opis:

This paper proposes two high-order sliding mode algorithms to achieve highperformance control of induction motor drive. In the first approach, the super-twisting algorithm (STA) is used to reduce the chattering effect and to improve control accuracy. The second approach combines the super-twisting algorithm with a quasi-barrier function technique. While the super-twisting algorithm (STA) aims at the chattering reduction, the Barrier super-twisting algorithm (BSTA) aims to eliminate this phenomenon by providing continuous output control signals. The BSTA is designed to prevent the STA gain from being over-estimated by making these gains to decrease and increase according to system’s uncertainties. Stability and finite-time convergence are guaranteed using Lyapunov’s theory. In addition, the two controlled variables, rotor speed, and rotor flux modulus are estimated based on the second-order sliding mode (SOSM) observer. Finally, simulations are carried out to compare the performance and robustness of two control algorithms without adding the equivalent control. Tests are achieved under external load torque, varying reference speed, and parameter variations.

Źródło:

Archives of Electrical Engineering; 2022, 71, 1; 245-263
1427-4221
2300-2506

Pojawia się w:

Archives of Electrical Engineering

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 50.

Tytuł:

Design of passive fault-tolerant controllers of a quadrotor based on sliding mode theory

Autorzy:

Merheb, A. R.
Noura, H.
Bateman, F.

Powiązania:

https://bibliotekanauki.pl/articles/331358.pdf

Data publikacji:

2015

Wydawca:

Uniwersytet Zielonogórski. Oficyna Wydawnicza

Tematy:

quadrotor UAV control
fault tolerant control
sliding mode control
cascaded SMC
bio inspired gain tuning

Opis:

In this paper, sliding mode control is used to develop two passive fault tolerant controllers for an AscTec Pelican UAV quadrotor. In the first approach, a regular sliding mode controller (SMC) augmented with an integrator uses the robustness property of variable structure control to tolerate partial actuator faults. The second approach is a cascaded sliding mode controller with an inner and outer SMC loops. In this configuration, faults are tolerated in the fast inner loop controlling the velocity system. Tuning the controllers to find the optimal values of the sliding mode controller gains is made using the ecological systems algorithm (ESA), a biologically inspired stochastic search algorithm based on the natural equilibrium of animal species. The controllers are tested using SIMULINK in the presence of two different types of actuator faults, partial loss of motor power affecting all the motors at once, and partial loss of motor speed. Results of the quadrotor following a continuous path demonstrated the effectiveness of the controllers, which are able to tolerate a significant number of actuator faults despite the lack of hardware redundancy in the quadrotor system. Tuning the controller using a faulty system improves further its ability to afford more severe faults. Simulation results show that passive schemes reserve their important role in fault tolerant control and are complementary to active techniques.

Źródło:

International Journal of Applied Mathematics and Computer Science; 2015, 25, 3; 561-576
1641-876X
2083-8492

Pojawia się w:

International Journal of Applied Mathematics and Computer Science

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 51.

Tytuł:

Design of PI sliding mode control for Zeta DC-DC converter in PV system

Autorzy:

Hasanah, Rini Nur
Ardhenta, Lunde
Nurwati, Tri
Setyawati, Onny
Sawitri, Dian Retno
Suyono, Hadi
Taufik, Taufik

Powiązania:

https://bibliotekanauki.pl/articles/2173675.pdf

Data publikacji:

2022

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

photovoltaic
Zeta converter
sliding mode control
PI sliding surface
fotowoltaika
konwerter Zeta
sterowanie trybem przesuwnym
powierzchnia ślizgowa PI

Opis:

Solar energy has become one of the most potential alternative energies in the world. To convert solar energy into electricity, a photovoltaic (PV) system can be utilized. However, the fluctuation of sunlight intensity throughout the day greatly affects the generated energy in the PV system. A battery may be beneficial to store the generated energy for later use. A DC–DC converter is commonly exploited to produce a constant output voltage during the battery charging process. A Zeta converter is a DC–DC converter which can be used to produce output values above or below the input voltage without changing the polarity. To deal with the inherent non-linearity and time-varying properties of the converter, in this paper the sliding mode control (SMC) is first analyzed and exploited before being integrated with a proportional-integral (PI) control to regulate the output voltage of the PV system. Disturbances are given in the form of changes in input voltage, reference voltage, and load. Voltage deviation and recovery time to reach a steady-state condition of the output voltage after disturbances are investigated and compared to the results using a proportional-integral-differential (PID) controller. The results show that the proposed control design performs faster than the compared PID control method.

Źródło:

Bulletin of the Polish Academy of Sciences. Technical Sciences; 2022, 70, 3; art. no. e140952
0239-7528

Pojawia się w:

Bulletin of the Polish Academy of Sciences. Technical Sciences

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 52.

Tytuł:

An optimal sliding mode congestion controller for connection-oriented communication networks with lossy links

Autorzy:

Bartoszewicz, A.
Leśniewski, P.

Powiązania:

https://bibliotekanauki.pl/articles/330586.pdf

Data publikacji:

2014

Wydawca:

Uniwersytet Zielonogórski. Oficyna Wydawnicza

Tematy:

optimal control
sliding mode control
flow control
discrete-time system
sterowanie optymalne
sterowanie ślizgowe
sterowanie przepływem
układ dyskretny

Opis:

A new discrete-time sliding-mode congestion controller for connection-oriented networks is proposed. Packet losses which may occur during the transmission process are explicitly taken into account. Two control laws are presented, each obtained by minimizing a different cost functional. The first one concentrates on the output variable, whereas in the second one the whole state vector is considered. Weighting factors for adjusting the influence of the control signal and appropriate (state or output) errors are incorporated in both the functionals. The asymptotic stability of the closed-loop system is proved, and the conditions for 100% bottleneck node bandwidth utilization are derived. The performance of the proposed algorithm is verified by computer simulations.

Źródło:

International Journal of Applied Mathematics and Computer Science; 2014, 24, 1; 87-97
1641-876X
2083-8492

Pojawia się w:

International Journal of Applied Mathematics and Computer Science

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 53.

Tytuł:

Observer-based leader-following formation control of uncertain multiple agents by integral sliding mode

Autorzy:

Qian, D. W.
Tong, S. W.
Li, C. D.

Powiązania:

https://bibliotekanauki.pl/articles/201511.pdf

Data publikacji:

2017

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

multi-agent system
formation control
integral sliding mode control
uncertainty
nonlinear disturbance observer
stability
system wieloagentowy
kontrola formacji
integralne sterowanie ślizgowe
niepewność
nieliniowy obserwator zakłóceń
stabilność

Opis:

This paper investigates the formation control problem of multiple agents. The formation control is founded on leader-following approaches. The method of integral sliding mode control is adopted to achieve formation maneuvers of the agents based on the concept of graph theory. Since the agents are subject to uncertainties, the uncertainties also challenge the formation-control design. Under a mild assumption that the uncertainties have an unknown bound, the technique of nonlinear disturbance observer is utilized to tackle the issue. According to a given communication topology, formation stability conditions are investigated by the observer-based integral sliding mode formation control. From the perspective of Lyapunov, not only is the formation stability guaranteed, but the desired formation of the agents is also realized. Finally, some simulation results are presented to show the feasibility and validity of the proposed control scheme through a multi-agent platform.

Źródło:

Bulletin of the Polish Academy of Sciences. Technical Sciences; 2017, 65, 1; 35-44
0239-7528

Pojawia się w:

Bulletin of the Polish Academy of Sciences. Technical Sciences

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 54.

Tytuł:

A fault monitoring method for wind power generation system based on sliding mode observer

Autorzy:

Yu, Wenxin
Huang, Shao Dao
Jiang, Dan

Powiązania:

https://bibliotekanauki.pl/articles/141570.pdf

Data publikacji:

2020

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

double-fed induction generator (DFIG)
sliding model observer (SMO)
stator voltage-oriented

Opis:

In this paper, a rotor current fault monitoring method is proposed based on a sliding mode observer. Firstly, the state-space model of the Double-Fed Induction Generator (DFIG) is constructed by vector transformation. Meanwhile, the stator voltage orientation vector control method is applied to decouple a stator and rotor currents, so as to obtain the correlation between the stator and rotor current. Furthermore, the mathematical model of stator voltage orientation is obtained. Then a state sliding mode observer (SMO) is established for the output current of the rotor of the DFIG. The stability and reachability of the system in a limited time is proved. Finally, the system state is determined by the residuals of the measured and estimated rotor currents. The simulation results show that the method proposed in this paper can effectively monitor the status: a normal state, voltage drop faults, short-circuit faults between windings, and rotor current sensor faults which have the advantages of fast response, high stability.

Źródło:

Archives of Electrical Engineering; 2020, 69, 3; 625-643
1427-4221
2300-2506

Pojawia się w:

Archives of Electrical Engineering

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 55.

Tytuł:

Iterative sliding mode observer for sensorless control of five-phase permanent magnet synchronous motor

Autorzy:

Yang, J.
Dou, M.
Zhao, D.

Powiązania:

https://bibliotekanauki.pl/articles/199868.pdf

Data publikacji:

2017

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

five-phase PMSM
sensorless control
iterative sliding mode observer
ISMO
Lyapunov criteria
speed estimation
position estimation
pięciofazowy PMSM
sterowanie bezczujnikowe
iteracyjny obserwator trybu ślizgowego
Kryteria Lapunowa
szacowanie prędkości
szacowanie pozycji

Opis:

Due to the star connection of the windings, the impact of the third harmonic which does not exist in three-phase permanent magnet synchronous motor (PMSM) cannot be ignored in five-phase PMSM. So the conventional sensorless control methods for three-phase PMSM cannot be applied for five-phase PMSM directly. To achieve the sensorless control for five-phase PMSM, an iterative sliding mode observer (ISMO) is proposed with the consideration of the third harmonic impact. First, a sliding mode observer (SMO) is designed based on the fivephase PMSM model with the third harmonic to reduce the chattering and obtain the equivalent signal of the back electromotive force (EMF). Then, an adaptive back EMF observer is built to estimate the motor speed and rotor position, which eliminates the low-pass filter and phase compensation module and improves the estimation accuracy. Meanwhile, by iteratively using the SMO in one current sampling period to adjust the sliding mode gains, the sliding mode chattering and estimation errors of motor speed and rotor position are further reduced. Besides, the stability of the SMO and the adaptive back EMF observer are demonstrated in detail by Lyapunov stability criteria. Experiment results verify the effectiveness of the proposed observer for sensorless control of five-phase PMSM.

Źródło:

Bulletin of the Polish Academy of Sciences. Technical Sciences; 2017, 65, 6; 845-857
0239-7528

Pojawia się w:

Bulletin of the Polish Academy of Sciences. Technical Sciences

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 56.

Tytuł:

Lyapunov stability based sliding mode observer for sensorless control of permanent magnet synchronous motor

Autorzy:

Navaneethan, Soundirarajan
Kanthalakshmi, Srinivasan
Aandrew Baggio, S.

Powiązania:

https://bibliotekanauki.pl/articles/2173640.pdf

Data publikacji:

2022

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

electric vehicles
permanent magnet synchronous motor
sensorless control
sliding mode observer
Lyapunov stability
tracking efficiency
pojazdy elektryczne
silnik synchroniczny z magnesami trwałymi
sterowanie bezczujnikowe
obserwator o ślizgowym trybie pracy
stabilność Lapunova
wydajność śledzenia

Opis:

In recent years there has been an increasing demand for electric vehicles due to their attractive features including low pollution and increase in efficiency. Electric vehicles use electric motors as primary motion elements and permanent magnet machines found a proven record of use in electric vehicles. Permanent magnet synchronous motor (PMSM) as electric propulsion in electric vehicles supersedes the performance compared to other motor types. However, in order to eliminate the cumbersome mechanical sensors used for feedback, sensorless control of motors has been proposed. This paper proposes the design of sliding mode observer (SMO) based on Lyapunov stability for sensorless control of PMSM. The designed observer is modeled with a simulated PMSM model to evaluate the tracking efficiency of the observer. Further, the SMO is coded using MATLAB/Xilinx block models to investigate the performance at real-time.

Źródło:

Bulletin of the Polish Academy of Sciences. Technical Sciences; 2022, 70, 2; art. no. e140353
0239-7528

Pojawia się w:

Bulletin of the Polish Academy of Sciences. Technical Sciences

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 57.

Tytuł:

Comparative analysis of the direct sliding-mode torque control strategies of the induction motor

Autorzy:

Tarchała, G.
Orłowska-Kowalska, T.

Powiązania:

https://bibliotekanauki.pl/articles/97535.pdf

Data publikacji:

2010

Wydawca:

Politechnika Poznańska. Wydawnictwo Politechniki Poznańskiej

Tematy:

induction motor
motor drive
electric drive

Opis:

The paper deals with the sliding-mode torque control of induction motor drives. Two possible control strategies are presented, with stator and with rotor flux stabilization. Mathematical model of the considered drive system and control algorithm is presented. Simulation and experimental results are demonstrated to verify the described algorithms.

Źródło:

Computer Applications in Electrical Engineering; 2010, 8; 81-92
1508-4248

Pojawia się w:

Computer Applications in Electrical Engineering

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 58.

Tytuł:

Robust extremum seeking for a second order uncertain plant using a sliding mode controller

Autorzy:

Solis, Cesar
Clempner, Julio
Poznyak, Alexander

Powiązania:

https://bibliotekanauki.pl/articles/330477.pdf

Data publikacji:

2019

Wydawca:

Uniwersytet Zielonogórski. Oficyna Wydawnicza

Tematy:

convex optimization
extremum seeking
continuous time gradient algorithm
dynamical constrained optimization
unknown function
optymalizacja wypukła
poszukiwanie ekstremum
algorytm gradientowy
optymalizacja ograniczona

Opis:

This paper suggests a novel continuous-time robust extremum seeking algorithm for an unknown convex function constrained by a dynamical plant with uncertainties. The main idea of the proposed method is to develop a robust closed-loop controller based on sliding modes where the sliding surface takes the trajectory around a zone of the optimal point. We assume that the output of the plant is given by the states and a measure of the function. We show the stability and zone-convergence of the proposed algorithm. In order to validate the proposed method, we present a numerical example.

Źródło:

International Journal of Applied Mathematics and Computer Science; 2019, 29, 4; 703-712
1641-876X
2083-8492

Pojawia się w:

International Journal of Applied Mathematics and Computer Science

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 59.

Tytuł:

Cluster consensus of general fractional-order nonlinear multi agent systems via adaptive sliding mode controller

Autorzy:

Yaghoubi, Zahra
Talebi, Heidar Ali

Powiązania:

https://bibliotekanauki.pl/articles/230002.pdf

Data publikacji:

2019

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

nonlinear multi agent systems
cluster consensus
fractional-order systems
adaptive sliding mode controller

Opis:

In this paper cluster consensus is investigated for general fractional-order multi agent systems with nonlinear dynamics via adaptive sliding mode controller. First, cluster consensus for fractional-order nonlinear multi agent systems with general form is investigated. Then, cluster consensus for the fractional-order nonlinear multi agent systems with first-order and general form dynamics is investigated by using adaptive sliding mode controller. Sufficient conditions for achieving cluster consensus for general fractional-order nonlinear multi agent systems are proved based on algebraic graph theory, Lyapunov stability theorem and Mittag-Leffler function. Finally, simulation examples are presented for first-order and general form multi agent systems, i.e. a single-link flexible joint manipulator which demonstrates the efficiency of the proposed adaptive controller.

Źródło:

Archives of Control Sciences; 2019, 29, 4; 643-665
1230-2384

Pojawia się w:

Archives of Control Sciences

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 60.

Tytuł:

Sterowanie ślizgowe wielofazowym silnikiem indukcyjnym klatkowym
Sliding-mode control of multiphase squirrel-cage induction motor

Autorzy:

Listwan, J.
Pieńkowski, K.

Powiązania:

https://bibliotekanauki.pl/articles/303554.pdf

Data publikacji:

2016

Wydawca:

Wydawnictwo Druk-Art

Tematy:

silnik indukcyjny wielofazowy
sterowanie ślizgowe
analiza
badania symulacyjne
multiphase induction motor
sliding-mode control
analysis
simulation studies

Opis:

Przedstawiono model matematyczny wielofazowego silnika indukcyjnego klatkowego. Omówiono zasady transformacji równań modelu matematycznego silnika. Omówiono metody i układy sterowania ślizgowego wielofazowymi silnikami indukcyjnymi klatkowymi. Przedstawiono metodę i wyniki badań bezpośredniego sterowania polowo zorientowanego (DFOC) z wykorzystaniem regulatorów ślizgowych oraz algorytm sterowania ślizgowego z bezpośrednim sterowaniem zaworami wielofazowego falownika napięcia.
The mathematical model of multiphase squirrel-cage induction motor has been presented. The transformations of motor phase variables are discussed. The methods and control systems of the sliding-mode control of multiphase induction motors are described. The structure of Direct Field-Oriented Control (DFOC) with sliding-mode controllers and with sliding-mode algorithm of direct determination of the inverter switching are described. The analysis of the properties of various methods of sliding-mode control have been carried out.

Źródło:

Napędy i Sterowanie; 2016, 18, 5; 80-87
1507-7764

Pojawia się w:

Napędy i Sterowanie

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 61.

Tytuł:

Optimal sliding mode controller design based on whale optimization algorithm for lower limb rehabilitation robot

Autorzy:

Sabah, Noor
Hameed, Ekhlas
Al-Huseiny, Muayed S

Powiązania:

https://bibliotekanauki.pl/articles/1956062.pdf

Data publikacji:

2021

Wydawca:

Polskie Towarzystwo Promocji Wiedzy

Tematy:

Optimal Sliding Mode Controller
Whale Optimization Algorithm
lower limb
rehabilitation robot
kończyna dolna
robot rehabilitacyjny

Opis:

The Sliding Mode Controllers (SMCs) are considered among the most common stabilizer and controllers used with robotic systems due to their robust nonlinear scheme designed to control nonlinear systems. SMCs are insensitive to external disturbance and system parameters variations. Although the SMC is an adaptive and model-based controller, some of its values need to be determined precisely. In this paper, an Optimal Sliding Mode Controller (OSMC) is suggested based on Whale Optimization Algorithm (WOA) to control a two-link lower limb rehabilitation robot. This controller has two parts, the equivalent part, and the supervisory controller part. The stability assurance of the controlled rehabilitation robot is analyzed based on Lyapunov stability. The WO algorithm is used to determine optimal parameters for the suggested SMC. Simulation results of two tested trajectories (linear step signal and nonlinear sine signal) demonstrate the effectiveness of the suggested OSMC with fast response, very small overshoot, and minimum steady-state error.

Źródło:

Applied Computer Science; 2021, 17, 3; 47-59
1895-3735

Pojawia się w:

Applied Computer Science

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 62.

Tytuł:

Sliding mode approach to torque and pitch control for an wind energy system using FPGA

Autorzy:

Subudhi, B.
Ogeti, P. S.

Powiązania:

https://bibliotekanauki.pl/articles/229490.pdf

Data publikacji:

2012

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

wind-energy conversion systems (WECSs)
sliding mode control (SMC)
torque
pitch control
hill climbing (HC)
perturb and observe (P&O)
FPGA

Opis:

Wind energy, being a fluctuating resource, requires a tight control management to ensure stability when integrated with the grid system. This has triggered interest towards developing advanced controllers. Hence this paper presents the study of a variable speed wind energy conversion system that uses a Double Fed Induction Generator (DFIG). Above rated wind speed, pitch control has been applied and below the rated speed torque control has been adopted. Generator torque control is able to reduce the effects of the pitch actuator limitations. Sliding mode control is applied for torque and pitch control in WECS and it has been implemented in MATLAB SIMULINK and FPGA to achieve control of active and reactive power exchange between the stator of the DFIG and the grid. Performance parameters like pitch angle, active, reactive power, turbine speed, and DC voltage has been compared by using SMC, Hill Climbing (HC) Algorithm and Perturb and Observe (P&O) Algorithm and performance for these three methods has been simulated and implemented in FPGA. Total Harmonic Distortion for all the performance parameters has been reported. Hardware implementation of developed algorithm was accomplished with the help of Xilinx system generator and Xilinx Tool Kit.

Źródło:

Archives of Control Sciences; 2012, 22, 3; 285-302
1230-2384

Pojawia się w:

Archives of Control Sciences

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 63.

Tytuł:

Sliding Mode Control-Based MPPT and Output Voltage Regulation of a Stand-alone PV System

Autorzy:

Manuel, Nelson Luis
İnanç, Nihat

Powiązania:

https://bibliotekanauki.pl/articles/2175936.pdf

Data publikacji:

2022

Wydawca:

Politechnika Wrocławska. Oficyna Wydawnicza Politechniki Wrocławskiej

Tematy:

sliding mode control
PV system
photovoltaic system
MPPT
maximum power point tracking
APF-P&O
artificial potential field
perturb and observe
voltage regulation

Opis:

When it comes to reducing emissions caused by the generation of electricity, among different renewable energy sources, the solar energy gains prominence, due to its geographical availability, simplicity of implementation, and absence of physical moving parts. However, the performance of photovoltaic systems is dependent on environmental conditions. Depending on temperature and solar irradiation, the photovoltaic (PV) system has an operating point where maximum power can be generated. The techniques that are implemented to find this operating point are the so-called maximum power point tracking (MPPT) algorithms. Since weather conditions are variable in nature, the output voltage of the PV system needs to be regulated to remain equal to the reference. Most of the existing studies focus either on MPPT or on voltage regulation of the PV system. In this paper, the two-stage PV system is implemented so that both MPPT and voltage regulation are achieved simultaneously. Additionally, an improved version of the perturb and observe (P&O) algorithm based on artificial potential fields (APF), called APF-P&O, is presented. According to the results of the simulations carried out in MATLAB/Simulink software, the APF-P&O method is more efficient than the conventional method.

Źródło:

Power Electronics and Drives; 2022, 7, 42; 159--173
2451-0262
2543-4292

Pojawia się w:

Power Electronics and Drives

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 64.

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

/5

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Skocz do pozycji: 65.

Tytuł:

Sliding mode methods for fault detection and fault tolerant control with application to aerospace systems

Autorzy:

Edwards, C.
Alwi, H.
Tan, C. P.

Powiązania:

https://bibliotekanauki.pl/articles/331368.pdf

Data publikacji:

2012

Wydawca:

Uniwersytet Zielonogórski. Oficyna Wydawnicza

Tematy:

ruch ślizgowy
sterowanie ślizgowe
detekcja uszkodzeń
sterowanie tolerujące uszkodzenia
sliding modes
fault detection
fault tolerant control
control allocation

Opis:

Sliding mode methods have been historically studied because of their strong robustness properties with regard to a certain class of uncertainty, achieved by employing nonlinear control/injection signals to force the system trajectories to attain in finite time a motion along a surface in the state-space. This paper will consider how these ideas can be exploited for fault detection (specifically fault signal estimation) and subsequently fault tolerant control. It will also describe applications of these ideas to aerospace systems, including piloted flight simulator results associated with the GARTEUR AG16 Action Group on Fault Tolerant Control. The results demonstrate a successful real-time implementation of the proposed fault tolerant control scheme on a motion flight simulator configured to represent the post-failure EL-AL aircraft.

Źródło:

International Journal of Applied Mathematics and Computer Science; 2012, 22, 1; 109-124
1641-876X
2083-8492

Pojawia się w:

International Journal of Applied Mathematics and Computer Science

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 66.

Tytuł:

Self-adaptive grey wolf optimization based adaptive fuzzy aided sliding mode control for robotic manipulator

Autorzy:

Kalshetti, Sunil C.
Dixit, S. K.

Powiązania:

https://bibliotekanauki.pl/articles/1839121.pdf

Data publikacji:

2018

Wydawca:

Polska Akademia Nauk. Instytut Badań Systemowych PAN

Tematy:

PUMA 560 robotic arm
robotic manipulator
joint angle
fuzzy model
SAGWO

Opis:

As the robotic manipulators are highly nonlinear, it is a challenging task to design, in particular, the PUMA 560 robotic arm with acceptable performance. This paper intends to show the design and development of an adaptive sliding mode controller (SMC) for a robotic manipulator. Since it is not realistic to match the SMC operations with the system model at every time instant, this paper adopts fuzzy inference to replace the system model. This approach successfully achieves the objectives of the experiment, carried out in two stages. In the first stage, it acquires the precise characteristics of the system model for the diverse samples and adequately represents the robotic manipulator. Subsequently, we derive the acquired characteristics in the form of fuzzy rules. In the second stage, we represent the derived fuzzy rules on the basis on adaptive fuzzy membership functions. Further, the approach introduces the self-adaptiveness into a recent algorithm called Grey Wolf Optimization (GWO) in order to establish the adaptive fuzzy membership functions. We then compare the effectiveness of the proposed method with the identified experimental model and the known methods, like SMC, Fuzzy SMC (FSMC), and GWO-SMC. Finally, the comparison with the known methods establishes the effectiveness of the proposed SAGWO-FSMC technique.

Źródło:

Control and Cybernetics; 2018, 47, 4; 383-409
0324-8569

Pojawia się w:

Control and Cybernetics

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 67.

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

/5

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Skocz do pozycji: 68.

Tytuł:

Sliding Mode Control of Hybrid Renewable Energy System Operating in Grid Connected and Stand-Alone Mode

Autorzy:

Benadli, Ridha
Bjaoui, Marwen
Khiari, Brahim
Sellami, Anis

Powiązania:

https://bibliotekanauki.pl/articles/1955980.pdf

Data publikacji:

2021

Wydawca:

Politechnika Wrocławska. Oficyna Wydawnicza Politechniki Wrocławskiej

Tematy:

sliding mode control
grid-connected mode
stand-alone mode
hybrid renewable energy system
wind turbine
photovoltaic
battery energy storage system
maximum power point tracking

Opis:

This paper studies innovative application of sliding mode control (SMC) for a Hybrid Renewable Energy System (HRES) in grid-connected and autonomous modes of operation. The considered HRES includes a photovoltaic (PV), wind turbine (WT) based on a Permanent Magnet Synchronous Generator (PMSG). The PV generator is coupled to the common DC bus via a DC/DC converter. The latter is controlled by an MPPT algorithm based on the Adaptive Perturbation and Observation Algorithm Method (APOAM) to search the optimum working of this source. A SMC is utilized to manage the PV voltage to achieve the Maximum Power Point (MPP) by altering the obligation duty cycle. The battery interfaced by a bidirectional buck-boost DC/DC converter can be charged or discharged depending on the production situation. On the one hand, the wind turbine conversion chain is equipped with a PMSG and a rectifier controlled to regulate the operating point of the wind turbine to its optimum value. During a Stand-Alone Mode (SAM) operation, the Voltage Source Converter (VSC) was used for controlling the output voltage in terms of amplitude and frequency delivered to the AC load. However, in Grid-Connected Mode (GCM) operation, the VSC was adapted to control the electrical parameters of the grid. To better appreciate the advantages of the proposed SMC approach, we have proposed a series of comparative tests with the conventional PI control in the operating modes GC and SA and under different scenarios. The proposed control strategy has undeniable advantages in terms of control performance and very low total harmonic distortion THD value compared with the conventional PI control. Finally, It is concluded that the proposed approach improves the quality and provides a stable operation of the HRES.

Źródło:

Power Electronics and Drives; 2021, 6, 41; 144-166
2451-0262
2543-4292

Pojawia się w:

Power Electronics and Drives

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 69.

Tytuł:

Sliding mode observers for fault identification in linear systems not satisfying matching and minimum phase conditions

Autorzy:

Zhirabok, Alexey
Zuev, Alexander
Filaretov, Vladimir
Shumsky, Alexey

Powiązania:

https://bibliotekanauki.pl/articles/1409401.pdf

Data publikacji:

2021

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

linear systems
faults
identification
disturbances
sliding mode observer

Opis:

The paper studies the fault identification problem for linear control systems under the unmatched disturbances. A novel approach to the construction of a sliding mode observer is proposed for systems that do not satisfy common conditions required for fault estimation, in particular matching condition, minimum phase condition, and detectability condition. The suggested approach is based on the reduced order model of the original system. This allows to reduce complexity of sliding mode observer and relax the limitations imposed on the original system.

Źródło:

Archives of Control Sciences; 2021, 31, 2; 253-266
1230-2384

Pojawia się w:

Archives of Control Sciences

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 70.

Tytuł:

Przegląd reguł osiągania trybu ślizgowego w układach dyskretnych
Review of Discrete Time Sliding Mode Reaching Laws

Autorzy:

Leśniewski, Piotr

Powiązania:

https://bibliotekanauki.pl/articles/275580.pdf

Data publikacji:

2019

Wydawca:

Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów

Tematy:

dyskretne sterowanie ślizgowe
reguły osiągania trybu ślizgowego
discrete sliding mode control
reaching laws

Opis:

Stosując znane reguły osiągania trybu ślizgowego, rozpoczyna się działanie od określenia pożądanego przebiegu zmiennej ślizgowej. Następnie projektowany jest regulator gwarantujący, że zmienna ślizgowa układu będzie podążać za wybranym przebiegiem. Przewagą tej metody nad „klasycznym” sterowaniem ślizgowym jest zapewnienie lepszej kontroli nad dynamiką układu i spełnienie ograniczeń zmiennych stanu już podczas fazy osiągania trybu ślizgowego. W artykule przedstawiony zostanie przegląd prac naukowych dotyczących reguł osiągania trybu ślizgowego dla układów czasu dyskretnego. Wskazane i omówione zostaną różnice i podobieństwa między przebiegami stosowanymi przez badaczy.
In the reaching law approach one first specifies the desired evolution of the sliding variable. Then, a sliding mode controller that ensures this evolution is derived. The main advantage of this method with respect to “classical” sliding mode control is better control of the system dynamics and state constraints during the reaching phase. In this paper, a review of recent results on discrete time reaching laws is presented. The differences and similarities between them are discussed.

Źródło:

Pomiary Automatyka Robotyka; 2019, 23, 3; 17-25
1427-9126

Pojawia się w:

Pomiary Automatyka Robotyka

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 71.

Tytuł:

Pitch and yaw motion control of 2 DoF helicopter subjected to faults using sliding-mode control

Autorzy:

Raghappriya, M.
Kanthalakshmi, S.

Powiązania:

https://bibliotekanauki.pl/articles/2134893.pdf

Data publikacji:

2022

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

fault tolerant control
sliding mode control
reaching law
super-twisting
sensor
actuator faults
component faults

Opis:

This paper presents a fault-tolerant control scheme for a 2 DOF helicopter. The 2 DOF helicopter is a higher-order multi-input multi-output system featuring non-linearity, cross-coupling, and unstable behaviour. The impact of sensor, actuator, and component faults on such highly complex systems is enormous. This work employs sliding mode control, which is based on reaching and super-twisting laws, to handle the problem of fault control. Simulation tests are carried out to show the effectiveness of the algorithms. Various performance metrics are analyzed and the results show SMC based on super-twisting law provides better control with less chattering. The stability of the closed-loop system is mathematically assured, in the presence of faults, which is a key contribution of this research.

Źródło:

Archives of Control Sciences; 2022, 32, 2; 359--381
1230-2384

Pojawia się w:

Archives of Control Sciences

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 72.

Tytuł:

Sterowanie ślizgowe w zastosowaniu do serwonapędu elektrohydraulicznego
Sliding Mode Control for the Electro-hydraulic Servo System

Autorzy:

Winnicki, A.
Olszewski, M.

Powiązania:

https://bibliotekanauki.pl/articles/274946.pdf

Data publikacji:

2010

Wydawca:

Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów

Tematy:

serwonapęd elektrohydrauliczny
sterowanie ślizgowe
sterowanie odporne
electro-hydraulic servo system
sliding mode control
robust control

Opis:

W artykule przedstawiono model sterowania ślizgowego SMC (ang. Sliding Mode Control) w zastosowaniu do elektrohydraulicznego układu serwonapędu. Algorytm ślizgowy bardzo dobrze nadaje się do sterowania obiektami nieliniowymi oraz charakteryzuje się dużą odpornością na zakłócenia. Dużą niedogodnością sterowania ślizgowego są efekty częstych przełączeń sygnału sterowania (ang. Chattering Phenomena), co może prowadzić do powstawania drgań elementów wykonawczych i wpływać niekorzystnie na trwałość napędzanego urządzenia. W artykule zaprezentowano alternatywne podejście, które w znacznym stopniu eliminuje efekt częstych przełączeń.
This paper presents the design a variable structure controller by Sliding Mode Control techniques for the electro-hydraulic servo systems. This approach enables to compensate the inherent non-linearities of the actuator and to reject external constant disturbances. An unfavorable effects of SMC are frequent switches of the control signal. Sigmoidal functions are used in lieu of signum functions to reduce chattering phenomena. Simulation results verify the validity of the proposed technique to compensate the frequent switches in servo system.

Źródło:

Pomiary Automatyka Robotyka; 2010, 14, 11; 116-119
1427-9126

Pojawia się w:

Pomiary Automatyka Robotyka

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 73.

Tytuł:

Unified approach to the sliding-mode control and state estimation – application to the induction motor drive

Autorzy:

Orlowska-Kowalska, T.
Tarchala, G.

Powiązania:

https://bibliotekanauki.pl/articles/201791.pdf

Data publikacji:

2013

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

induction motor
sliding mode control
motor torque control
chattering
state estimation
model reference adaptive system (MRAS)

Opis:

In this paper a generalized design procedure of the sliding mode systems is described. A unified approach is applied to control and state variables estimation algorithms. Selected solutions are then applied in the induction motor drive system. An identical design procedure is used to design the speed control and MRAS-type speed estimator. Presented algorithms are verified using experimental tests performed on the 3 kW laboratory setup.

Źródło:

Bulletin of the Polish Academy of Sciences. Technical Sciences; 2013, 61, 4; 837-846
0239-7528

Pojawia się w:

Bulletin of the Polish Academy of Sciences. Technical Sciences

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 74.

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

/5

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Skocz do pozycji: 75.

Tytuł:

Analiza sterowania ślizgowego wielofazowym silnikiem indukcyjnym
Analysis of Sliding-Mode Control of Multi-Phase Induction Motor

Autorzy:

Listwan, J.
Pieńkowski, K.

Powiązania:

https://bibliotekanauki.pl/articles/1367518.pdf

Data publikacji:

2015

Wydawca:

Sieć Badawcza Łukasiewicz - Instytut Napędów i Maszyn Elektrycznych Komel

Tematy:

silnik indukcyjny wielofazowy
sterowanie ślizgowe
analiza
badania symulacyjne
multi-phase induction motor
sliding-mode control
analysis
simulation studies

Opis:

The mathematical model of a 5-phase squirrel-cage induction motor has been presented. The transformation of motor phase variables to the transformed systems of coordinates are discussed. The methods and control systems of the sliding mode control of five-phase induction motor with five-phase voltage source inverter are described. The structure of direct field-oriented control system DFOC with sliding-mode controllers in inner and outer control loops is described. The paper presents a detailed analysis of chosen vector control methods with sliding-mode algorithm of direct determination of the inverter switching states. The comparative analysis of the properties of various methods of sliding-mode control has been carried out.
Przedstawiono model matematyczny 5-fazowego silnika indukcyjnego klatkowego. Omówiono zasady transformacji równań modelu matematycznego silnika o zmiennych współczynnikach wyrażonych we współrzędnych fazowych, do równań o stałych współczynnikach, wyrażonych w przetransformowanych układach współrzędnych. Omówiono metody i układy sterowania wielofazowym silnikiem indukcyjnym z wielofazowym falownikiem napięcia z zastosowaniem metod sterowania ślizgowego. Przedstawiono strukturę bezpośredniego sterowania polowo-zorientowanego DFOC z wykorzystaniem regulatorów ślizgowych jako regulatorów nadrzędnych i podporządkowanych. W sposób szczegółowy omówiono wybrane struktury sterowania wektorowego z zastosowaniem algorytmu sterowania ślizgowego do bezpośredniego sterowania zaworam wielofazowego falownika napięcia. Przeprowadzono analizę porównawczą wyników badań symulacyjnych dla różnych metod sterowania silnikiem z zastosowaniem regulatorów ślizgowych.

Źródło:

Maszyny Elektryczne: zeszyty problemowe; 2015, 4, 108; 107-112
0239-3646
2084-5618

Pojawia się w:

Maszyny Elektryczne: zeszyty problemowe

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 76.

Tytuł:

Sliding Mode Control of electro-hydraulic servo system
Algorytm sterowania ślizgowego w zastosowaniu do serwonapędu elektrohydraulicznego

Autorzy:

Winnicki, A.
Olszewski, M.

Powiązania:

https://bibliotekanauki.pl/articles/154500.pdf

Data publikacji:

2009

Wydawca:

Stowarzyszenie Inżynierów i Techników Mechaników Polskich

Tematy:

serwonapęd elektrohydrauliczny
algorytm ślizgowy
wyznaczniki Lagrange'a
electro-hydraulic servo system
sliding mode control
Lagrange'a multiplier

Opis:

This paper presents the design of a new robust Sliding Mode Controller for the electro-hydraulic servo system. In classic approach of SMC are unfavorable effects of frequent switches of the control signal appears. This phenomenon is called the chattering effect. To reduce this effect, a new method of the Sliding Mode Control design with changing switching gain along the Lagrange'a multiplier is proposed. Simulation results and laboratory experiments indicate that the control approach is very robust and considerably improves the position tracking accuracy.
Artykuł prezentuje nowe podejście w użyciu algorytmu ślizgowego w zastosowaniu do serwonapędu elektrohydraulicznego. W klasycznym podejściu algorytmu ślizgowego pojawia się niepożądany efekt częstych przełączeń sygnału sterującego. W celu wyeliminowania tego zjawiska, w artykule zaproponowano użycie metody wyznaczników Lagrange'a. Wyniki symulacyjne jak i laboratoryjne wskazują na wysoką oporność układu na zakłócenia przy zachowaniu dobrych właściwości dynamicznych układu jak i „gładkim" sygnale sterującym.

Źródło:

Pomiary Automatyka Kontrola; 2009, R. 55, nr 3, 3; 174-177
0032-4140

Pojawia się w:

Pomiary Automatyka Kontrola

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 77.

Tytuł:

Ślizgowy obserwator prędkości kątowej napędu prądu stałego
Sliding mode angular velocity observer of the DC drive

Autorzy:

Sieklucki, G.
Sykulski, R.
Bisztyga, B.
Orzechowski, T.
Zdrojewski, A.

Powiązania:

https://bibliotekanauki.pl/articles/320318.pdf

Data publikacji:

2010

Wydawca:

Akademia Górniczo-Hutnicza im. Stanisława Staszica w Krakowie. Wydawnictwo AGH

Tematy:

napęd prądu stałego
obserwator zmiennych stanu
sterowanie ślizgowe
chattering
DC drive
state observer
sliding mode control

Opis:

Artykuł przedstawia obserwator ze sprzężeniem zwrotnym. Zaprezentowano obserwator prędkości kątowej bazujący na sterowaniu ślizgowym. Omówiono wpływ parametrów obserwatora na uzyskiwaną jakość regulacji prędkości. Omówiono metody eliminacji zjawiska chatteringu - filtr dolnoprzepustowy, zastąpienie funkcji sign przez sat (nasycenie). Przedstawiono wyniki badań symulacyjnych.
The article presents the closed-loop observer. The observer of the angular velocity based on the sliding mode con-trol is shown. The influence of the observer parameters on velocity control quality is talked over. The elimination of the chattering phenomenon is discussed - low-pass filter and replacement of the function sign by sat (saturation). Simulation results are presented.

Źródło:

Elektrotechnika i Elektronika; 2010, 29, 1--2; 41-46
1640-7202

Pojawia się w:

Elektrotechnika i Elektronika

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 78.

Tytuł:

An H∞ sliding mode observer for Takagi–Sugeno nonlinear systems with simultaneous actuator and sensor faults

Autorzy:

Ben Brahim, A.
Dhahri, S.
Ben Hmida, F.
Sellami, A.

Powiązania:

https://bibliotekanauki.pl/articles/330626.pdf

Data publikacji:

2015

Wydawca:

Uniwersytet Zielonogórski. Oficyna Wydawnicza

Tematy:

fault reconstruction
fault estimation
simultaneous fault
H∞ sliding mode observer
uncertain Takagi Sugeno system
LMI optimization

Opis:

This paper considers the problem of robust reconstruction of simultaneous actuator and sensor faults for a class of uncertain Takagi–Sugeno nonlinear systems with unmeasurable premise variables. The proposed fault reconstruction and estimation design method with H∞ performance is used to reconstruct both actuator and sensor faults when the latter are transformed into pseudo-actuator faults by introducing a simple filter. The main contribution is to develop a sliding mode observer (SMO) with two discontinuous terms to solve the problem of simultaneous faults. Sufficient stability conditions in terms linear matrix inequalities are achieved to guarantee the stability of the state estimation error. The observer gains are obtained by solving a convex multiobjective optimization problem. Simulation examples are given to illustrate the performance of the proposed observer.

Źródło:

International Journal of Applied Mathematics and Computer Science; 2015, 25, 3; 547-559
1641-876X
2083-8492

Pojawia się w:

International Journal of Applied Mathematics and Computer Science

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 79.

Tytuł:

Comparative investigations of nonlinear and linear observers for a highly manoeuvrable target in sliding mode guidance

Autorzy:

Wang, Y.
Sun, M.
Du, S.
Chen, Z.

Powiązania:

https://bibliotekanauki.pl/articles/201020.pdf

Data publikacji:

2017

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

guidance law
second-order sliding mode
super-twisting algorithm
linear observer
target manoeuvre
algorytm
obserwator liniowy
manewr
algorytm przesuwania

Opis:

Target manoeuvre is one of the key factors affecting guidance accuracy. To intercept highly maneuverable targets, a second-order sliding-mode guidance law, which is based on the super-twisting algorithm, is designed without depending on any information about the target motion. In the designed guidance system, the target estimator plays an essential role. Besides the existing higher-order sliding-mode observer (HOSMO), a first-order linear observer (FOLO) is also proposed to estimate the target manoeuvre, and this is the major contribution of this paper. The closed-loop guidance system can be guaranteed to be uniformly ultimately bounded (UUB) in the presence of the FOLO. The comparative simulations are carried out to investigate the overall performance resulting from these two categories of observers. The results show that the guidance law with the proposed linear observer can achieve better comprehensive criteria for the amplitude of normalised acceleration and elevator deflection requirements. The reasons for the different levels of performance of these two observer-based methods are thoroughly investigated.

Źródło:

Bulletin of the Polish Academy of Sciences. Technical Sciences; 2017, 65, 2; 233-245
0239-7528

Pojawia się w:

Bulletin of the Polish Academy of Sciences. Technical Sciences

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 80.

Tytuł:

Design modified second order sliding mode controller based on ST algorithm for blood glucose regulation systems

Autorzy:

Karam, Ekhlas H.
Jadoo, Eman H.

Powiązania:

https://bibliotekanauki.pl/articles/117812.pdf

Data publikacji:

2020

Wydawca:

Polskie Towarzystwo Promocji Wiedzy

Tematy:

Type I Diabetes
Second Order Sliding Mode Control
Chaotic Particle Swarm Optimization
BEM model
cukrzyca typu 1
kontrola trybu przesuwu drugiego rzędu
optymalizacja roju cząstek chaotycznych
model BEM

Opis:

The type1 of diabetes is a chronic situation characterized by abnormally high glucose levels in the blood. Persons with diabetes characterized by no insulin secretion in the pancreas (ß-cell) which also known as insulin-dependent diabetic Mellitus (IDDM). In order to keep the levels of glucose in blood near the normal ranges (70–110mg/dl), the diabetic patients needed to inject by external insulin from time to time. In this paper, a Modified Second Order Sliding Mode Controller (MSOSMC) has been developed to control the concentration of blood glucose levels under a dis-turbing meal. The parameters of the suggested design controller are optimized by using chaotic particle swarm optimization (CPSO) technique, the model which is used to represent the artificial pancreas is a minimal model for Bergman. The simulation was performed on a MATLAB/SIMULINK to verify the performance of the suggested controller. The results showed the effectiveness of the proposed MSOSMC in controlling the behavior of glu-cose deviation to a sudden rise in blood glucose.

Źródło:

Applied Computer Science; 2020, 16, 2; 18-31
1895-3735

Pojawia się w:

Applied Computer Science

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 81.

Tytuł:

PD terminal sliding mode control using fuzzy genetic algorithm for mobile robot in presence of disturbances

Autorzy:

Benaziza, W.
Slimane, N.
Mallem, A.

Powiązania:

https://bibliotekanauki.pl/articles/384371.pdf

Data publikacji:

2018

Wydawca:

Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów

Tematy:

mobile robot
fast terminal function
PD sliding surface
fuzzy system
genetic algorithm
Lyapunov stability
robot mobilny
system rozmyty
algorytm genetyczny
Stabilność Lapunova

Opis:

This paper presents a new approach in the field of trajectory tracking for nonholonomic mobile robot in presence of disturbances. The proposed control design is constructed by a kinematic controller, based on PD sliding surface using fuzzy sliding mode for the angular and linear velocities disturbances, in order to tend asymptotically the robot posture error to zero. Thereafter a dynamic controller is presented using as a sliding surface design, a fast terminal function (FTF) whose parameters are generated by a genetic algorithm in order to converge the velocity errors to zero in finite time and guarantee the asymptotic stability of the system using a Lyapunov candidate. The elaborated simulation works in the case of different trajectories confirm the robustness of the proposed approach.

Źródło:

Journal of Automation Mobile Robotics and Intelligent Systems; 2018, 12, 2; 52-60
1897-8649
2080-2145

Pojawia się w:

Journal of Automation Mobile Robotics and Intelligent Systems

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 82.

Tytuł:

Ekwiwalentne sterowanie ślizgowe prędkością kątową silnika indukcyjnego
Equivalent sliding-mode control of the induction motor speed

Autorzy:

Tarchała, G.
Orłowska-Kowalska, T.

Powiązania:

https://bibliotekanauki.pl/articles/1813980.pdf

Data publikacji:

2013

Wydawca:

Politechnika Wrocławska. Oficyna Wydawnicza Politechniki Wrocławskiej

Tematy:

silnik indukcyjny
sterowanie prędkością
ruch ślizgowy
chattering

Opis:

The paper deals with the speed control of the induction motor drive, which utilizes the sliding modes. In order to reduce the oscillations of regulated variables (the chattering phenomenon), in contradiction to the commonly used relay control method, the equivalent control method is applied. In this method, control signal consists of two different parts: continuous and discontinuous. The design method of such controller has been presented, based on the general design methodology of the systems with sliding modes, which has been demonstrated in the introductory part of the paper. The proposed control algorithm has been verified in simulation and experimental tests for the 3 kW induction motor.

Źródło:

Prace Naukowe Instytutu Maszyn, Napędów i Pomiarów Elektrycznych Politechniki Wrocławskiej. Studia i Materiały; 2013, 69, 33; 82--96
1733-0718

Pojawia się w:

Prace Naukowe Instytutu Maszyn, Napędów i Pomiarów Elektrycznych Politechniki Wrocławskiej. Studia i Materiały

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 83.

Tytuł:

Effects of sliding surface on the performances of adaptive sliding mode slip ratio controller for a HEV

Autorzy:

Dash, B. K.
Subudhi, B.

Powiązania:

https://bibliotekanauki.pl/articles/229381.pdf

Data publikacji:

2013

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

sliding mode control
slip ratio control
hybrid electric vehicle
sliding surface
ABS

Opis:

Slip ratio control of a ground vehicle is an important concern for the development of antilock braking system (ABS) to avoid skidding when there is a transition of road surfaces. In the past, the slip ratio models of such vehicles were derived to implement ABS. It is found that the dynamics of the hybrid electric vehicle (HEV) is nonlinear, time varying and uncertain as the tire-road dynamics is a nonlinear function of road adhesion coefficient and wheel slip. Sliding mode control (SMC) is a robust control paradigm which has been extensively used successfully in the development of ABS of a HEV. But the SMC performance is influenced by the choice of sliding surface. This is due to the discontinuous switching of control force arising in the vicinity of the sliding surface that produces chattering. This paper presents a detailed study on the effects of different sliding surfaces on the performances of sliding mode based adaptive slip ratio control applied to a HEV.

Źródło:

Archives of Control Sciences; 2013, 23, 2; 187-203
1230-2384

Pojawia się w:

Archives of Control Sciences

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 84.

Tytuł:

A new strongly predefined time sliding mode controller for a class of cascade high-order nonlinear systems

Autorzy:

Abadi, Ali Soltani Sharif
Hosseinabadi, Pooyan Alinaghi
Mekhilef, Saad
Ordys, Andrzej

Powiązania:

https://bibliotekanauki.pl/articles/229682.pdf

Data publikacji:

2020

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

predefined time
stability
sliding mode
trajectory
synchronization

Opis:

Many real-time systems can be described as cascade space-state models of different orders. In this paper, a new predefined controller is designed using a Strongly Predefined Time Sliding Mode Control (SPSMC) scheme for a cascade high-order nonlinear system. The proposed control scheme based-on SMC methodology is designed such that the system states reach zero within a determined time prior to performing numerical simulation. Moreover, Fixed Time Sliding Mode Control (FSMC) and Terminal Sliding Mode Control (TSMC) schemes are presented and simulated to provide a comparison with the proposed predefined time scheme. The numerical simulation is performed in Simulink/MATLAB for the proposed SPSMC and the other two existing methods on two examples: second and of third order to demonstrate the effectiveness of the proposed SPSMC method. The trajectory tracking of the ship course system is addressed a san example of a second-order system. Synchronization of two chaotic systems, Genesio Tesi and Coullet, is considered as an example of a third-order system. Also, by using two performance criteria, a thorough comparison is made between the proposed predefined time scheme, SPSMC, and the two no predefined time schemes, FSMC and TSMC.

Źródło:

Archives of Control Sciences; 2020, 30, 3; 599-620
1230-2384

Pojawia się w:

Archives of Control Sciences

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 85.

Tytuł:

Design and Simulation of Direct and Indirect Back EMF Sliding Mode Observer for Sensorless Control of PMSM

Autorzy:

Petro, Viktor
Kyslan, Karol

Powiązania:

https://bibliotekanauki.pl/articles/1193886.pdf

Data publikacji:

2020

Wydawca:

Politechnika Wrocławska. Oficyna Wydawnicza Politechniki Wrocławskiej

Tematy:

back-EMF sliding mode observer
sensorless control
PMSM
phase-locked loop

Opis:

This article compares two sensorless control algorithms for a permanent magnet synchronous machine (PMSM) based on the back-EMF sliding mode observer (SMO). Indirect SMO (I-SMO) treats the back-EMF voltages as a disturbance. Direct SMO (D-SMO) considers back-EMF voltages as state-space variables. The same phase-locked loop (PLL) is used for both observers for extraction of the rotor position and speed values from the observed back-EMF voltages. In a sensorless control, the observed speed is used as feedback for the PI controller, and the observed position is used in the Park transformations. Both observers have been implemented and tested with standard field-oriented control. Simulation results indicate rather comparable speed and position estimation precision for both, but the D-SMO indicates slightly higher precision in steady-state. Even more, a tuning procedure of the D-SMO is more straightforward when compared to the I-SMO. Thus, the D-SMO was further verified experimentally with the OP 5600 rapid prototyping device and with a 350 W PMSM drive. Experimental results of the D-SMO are included at the end of the paper.

Źródło:

Power Electronics and Drives; 2020, 5, 40; 215-228
2451-0262
2543-4292

Pojawia się w:

Power Electronics and Drives

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 86.

Tytuł:

Core loss resistance impact on sensorless speed control of an induction motor using hybrid adaptive sliding mode observer

Autorzy:

Ayana, Tadele
Wogi, Lelissa
Morawiec, Marcin

Powiązania:

https://bibliotekanauki.pl/articles/27309950.pdf

Data publikacji:

2023

Wydawca:

Polska Akademia Nauk. Czasopisma i Monografie PAN

Tematy:

induction motor
loss minimization
core loss
adaptive observer
sliding mode controller

Opis:

Induction motors (IMs) experience power losses when a portion of the input power is converted to heat instead of driving the load. The combined effect of copper losses, core losses, and mechanical losses results in IM power losses. Unfortunately, the core losses in the motor, which have a considerable impact on its energy efficiency, are not taken into account by the generally employed dynamic model in the majority of the studies. Due to this, the motor rating often corresponds to the worst-case load in applications, but the motor frequently operates below rated conditions. A hybridized model reference adaptive system (MRAS) with sliding mode control (SMC) is used in this study for sensorless speed control of an induction motor with core loss, allowing the motor to operate under a variety of load conditions. As a result, the machine can run at maximum efficiency while carrying its rated load. By adjusting the -axis current in the reference frame in vector-controlled drives, the system’s performance is enhanced by running the motor at its optimum flux. Regarding the torque and speed of both induction motors with and without core loss, the Adaptive Observer Sliding Mode Control (AOSMC) has been constructed and simulated in this case. The AOSMC with core loss produced good performance when the proposed controller was tested.

Źródło:

Archives of Electrical Engineering; 2023, 72, 4; 895--913
1427-4221
2300-2506

Pojawia się w:

Archives of Electrical Engineering

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 87.

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

/5

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Skocz do pozycji: 88.

Tytuł:

Vibration control and performance analysis of full car active suspension system using fractional order terminal sliding mode controller

Autorzy:

Yuvapriya, T.
Lakshami, P.
Rajendiran, S.

Powiązania:

https://bibliotekanauki.pl/articles/230099.pdf

Data publikacji:

2020

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

active suspension system
fractional order terminal sliding mode controller
ISO8608
ISO2631
stability analysis
vibration dose value

Opis:

The main goal of introducing Active Suspension System in vehicles is to reduce the vehicle body motion under road obstacles which improves the ride comfort of the passenger. In this paper, the Full Car Model (FCM) with seven Degrees of Freedom is considered and simulated by MATLAB/Simulink. The Terminal Sliding Mode Controller (TSMC) and Fractional Order Terminal Sliding Mode Controller (FOTSMC) are designed to enhance the ride quality, stability and passenger comfort for FCM. The designed FOTSMC has the ability to provide higher control accuracy in a finite time. The performances of the designed controllers are evaluated by measuring the vehicle body vibration in both angular and vertical direction under bump input and ISO-8608 random input against passive suspension system. The Frequency Weighted Root Mean Square (FWRMS) and Vibration dose value of Body Acceleration as per ISO-2631 are evaluated for FOTSMC, TSMC and PSS. The stability of the FCM is proved by Lyapunouv theory. Further analysis with sprung mass and speed variation of FCM demonstrate the robustness of proposed controller. To investigate the performances of designed controllers, comparison is made with existing Sliding Mode Controller (SMC) which proves that the designed FOTSMC performs better than existing SMC.

Źródło:

Archives of Control Sciences; 2020, 30, 2; 295-324
1230-2384

Pojawia się w:

Archives of Control Sciences

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 89.

Tytuł:

A fault estimation and fault-tolerant control based sliding mode observer for LPV descriptor systems with time delay

Autorzy:

Hamdi, Habib
Rodrigues, Mickael
Rabaoui, Bouali
Benhadj Braiek, Naceur

Powiązania:

https://bibliotekanauki.pl/articles/1838208.pdf

Data publikacji:

2021

Wydawca:

Uniwersytet Zielonogórski. Oficyna Wydawnicza

Tematy:

fault estimation
fault-tolerant control
LPV descriptor system
sliding mode observer
time delay
LMIs
linear matrix inequalities
estymacja błędu
sterowanie odporne na uszkodzenia
sterowanie ślizgowe
liniowa nierówność macierzowa

Opis:

This paper considers the problem of fault-tolerant control (FTC) and fault reconstruction of actuator faults for linear parameter varying (LPV) descriptor systems with time delay. A polytopic sliding mode observer (PSMO) is synthesized to achieve simultaneous reconstruction of LPV polytopic descriptor system states and actuator faults. Exploiting the reconstructed actuator faults and state estimates, a fault-tolerant controller is designed to compensate the impact of actuator faults on system performance by stabilizing the closed-loop LPV delayed descriptor system. Besides, the controller and PSMO gains are obtained throughout the resolution of linear matrix inequalities (LMIs) using convex optimization techniques. The developed PSMO could force the output estimation error to converge to zero in a finite time when the actuators faults are bounded through the reinjection of the output estimation error via a nonlinear switching term. Simulation results applied to a given numerical system are presented to highlight the superiority and effectiveness of the proposed approach.

Źródło:

International Journal of Applied Mathematics and Computer Science; 2021, 31, 2; 247-258
1641-876X
2083-8492

Pojawia się w:

International Journal of Applied Mathematics and Computer Science

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 90.

Tytuł:

Robust Back-stepping Based Higher Order Sliding Mode Control of Non-Inverted Buck-Boost Converter for a Photovoltaic System

Autorzy:

Ullah, Shaukat

Powiązania:

https://bibliotekanauki.pl/articles/1955975.pdf

Data publikacji:

2021

Wydawca:

Politechnika Wrocławska. Oficyna Wydawnicza Politechniki Wrocławskiej

Tematy:

MPPT
buck-boost converter
non-linear control
backstepping
higher order sliding
photovoltaic PV

Opis:

Photovoltaic (PV) system generates renewable energy from sunlight, which has low efficiency due to the variance in nature of temperature and irradiance in a fast changing environment condition. Different researchers have proposed different maximum power point tracking MPPT techniques to improve the efficiency. However, still there are many open issues. Thus, to address this, a non-linear back-stepping-based higher order sliding mode controller (BHOSMC) is proposed to harvest maximum power from PV system. The PV module and load is interfaced by a non-inverted buck-boost converter (NIBBC). A linear interpolation method is used for voltage generation and Lyapunov stability is used to verify the control system equation. MATLAB/Simulink software is used for testing the proposed controller performance. The experimental result verified that the proposed BHOSMC is robust, accurate and fast tracking, faultless and less chattering as compared to perturb and observe (P&O), back-stepping control (BSC) and back-stepping-based sliding mode control under rapidly varying meteorological condition.

Źródło:

Power Electronics and Drives; 2021, 6, 41; 113-127
2451-0262
2543-4292

Pojawia się w:

Power Electronics and Drives

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 91.

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

/5

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Skocz do pozycji: 92.

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

/5

Artykuł

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Skocz do pozycji: 93.

Tytuł:

The optimal design of fractional sliding mode control based on multi-objective genetic algorithms for a two-link flexible manipulator

Autorzy:

Pouya, M.
Pashaki, P. V.

Powiązania:

https://bibliotekanauki.pl/articles/102531.pdf

Data publikacji:

2017

Wydawca:

Stowarzyszenie Inżynierów i Techników Mechaników Polskich

Tematy:

fractional calculations
sliding mode control
two-link flexible manipulator
Pareto optimal
genetic algorithm

Opis:

In this paper a novel optimal approach of control strategy is introduced by applying fractional calculus in the structure of sliding mode control for a range of dynamics system liable to ambiguity. So, a fractional sliding mode control was designed for dynamics of the two-link rigid-flexible manipulator. Furthermore, a multi-objective genetic algorithm was proposed in order to find the ideal variable structure of the sliding mode control. Optimal variables were achieved by the optimization of the conventional sliding mode control. Then the performance of both the conventional and the fractional sliding mode control were compared with respect to optimal variables. Results indicated that by applying the optimized fractional sliding mode control, the system’s error was significantly reduced consequently tracking the desired value was done with a higher degree of accuracy and a smoother control action was achieved.

Źródło:

Advances in Science and Technology. Research Journal; 2017, 11, 3; 56-65
2299-8624

Pojawia się w:

Advances in Science and Technology. Research Journal

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 94.

Tytuł:

Comparative Study of Optimised Artificial Intelligence Based First Order Sliding Mode Controllers for Position Control of a DC Motor Actuator

Autorzy:

Nyong-Bassey, B. E.
Akinloye, B.

Powiązania:

https://bibliotekanauki.pl/articles/385114.pdf

Data publikacji:

2016

Wydawca:

Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów

Tematy:

adaptive fuzzy control
DC motor position control
genetic algorithm
particle swarm optimization (PSO)
sliding mode control

Opis:

This paper aims at critically reviewing various sliding mode control measures applied to Permanent Magnet DC Motor actuator for position control. At first, a hybrid sliding mode controller was examined with its advantages and disadvantages. Then, the smooth sliding mode controller in the same manner. The shortcomings of the two methods were overcome by proper switch design and also using tanh-sinh hyperbolic function. The sliding mode controller switches on when either disturbance or noise is detected. Genetic Algorithm Computational tuning technique is employed to optimize the gains of the controllers for optimal response.The performance of the proposed controller architecture, as well as the reviewed controllers, have been compared for performance evaluation with respect to several operating conditions. This includes load torque disturbance injection, noise injection in a feedback loop, motor nonlinearity exhibited by parameters variation, and a step change in reference input demand.

Źródło:

Journal of Automation Mobile Robotics and Intelligent Systems; 2016, 10, 3; 58-71
1897-8649
2080-2145

Pojawia się w:

Journal of Automation Mobile Robotics and Intelligent Systems

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 95.

Tytuł:

Application of super-twisting sliding mode controllers in direct field-oriented control system of six-phase induction motor: experimental studies

Autorzy:

Listwan, J.

Powiązania:

https://bibliotekanauki.pl/articles/1193593.pdf

Data publikacji:

2018

Wydawca:

Politechnika Wrocławska. Oficyna Wydawnicza Politechniki Wrocławskiej

Tematy:

six-phase squirrel-cage induction motor
direct field-oriented control method
super-twisting sliding mode control
experimental studies

Opis:

This paper presents the direct field-oriented control (DFOC) method of six-phase induction motor with the application of super-twisting sliding mode algorithm. The mathematical model of the six-phase induction motor has been described. The descriptions of the space vector modulation (SVM) method and the super-twisting algorithm have been presented. The DFOC method with super-twisting sliding mode controllers has been described. The experimental studies of the DFOC method with super-twisting controllers have been performed, and the results of these studies are presented and discussed.

Źródło:

Power Electronics and Drives; 2018, 3, 38; 23-34
2451-0262
2543-4292

Pojawia się w:

Power Electronics and Drives

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 96.

Tytuł:

The problem of state constraints in designing the discrete time sliding mode controller
Ograniczenie zmiennych stanu w dyskretnym sterowaniu ślizgowym

Autorzy:

Jaskuła, M.
Pietrala, M.
Leśniewski, P.

Powiązania:

https://bibliotekanauki.pl/articles/275946.pdf

Data publikacji:

2017

Wydawca:

Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów

Tematy:

variable structure system
sliding mode control
discrete-time systems
state constraints
reaching law
sterowanie o zmiennej strukturze
sterowanie ślizgowe
układy czasu dyskretnego
ograniczenia zmiennych stanu
reguła osiągania ruchu ślizgowego

Opis:

In this paper we study the problem of state constraints in discrete time sliding mode control. We present a sufficient condition for the strategy that drives the representative point monotonically to the sliding hyperplane in finite time. The advantage of this strategy is that disturbances do not have to fulfill the matching conditions. Our approach is based on the so-called reaching law technique.
W artykule przeanalizowany został problem ograniczenia zmiennych stanu w dyskretnym sterowaniu ślizgowym. Do zaprojektowania regulatora zastosowano regułę osiągania ruchu ślizgowego. Zaprezentowano warunek dostateczny na monotoniczną zbieżność stanu obiektu do płaszczyzny ślizgowej w skończonym czasie. Zaletą przedstawionej metody jest to, że zakłócenia nie muszą spełniać warunków dopasowania.

Źródło:

Pomiary Automatyka Robotyka; 2017, 21, 4; 15-22
1427-9126

Pojawia się w:

Pomiary Automatyka Robotyka

Dostawca treści:

Biblioteka Nauki

/5

Artykuł

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Skocz do pozycji: 97.

Tytuł:

Neural Network based control of Robot Manipulator

Autorzy:

Ohri, Arnav
Salim, Salim

Powiązania:

https://bibliotekanauki.pl/articles/1075537.pdf

Data publikacji:

2019

Wydawca:

Przedsiębiorstwo Wydawnictw Naukowych Darwin / Scientific Publishing House DARWIN

Tematy:

RBF Neural Network
Robotic Manipulator
Sliding Mode Control

Opis:

This article proposes an RBFNN (Radial Basis Function Neural Network) and sliding mode based controller to manipulate the robot manipulator. The technique used has been based on a sliding mode control approach that can drive the system towards a sliding surface by Gaussian radial basis function neural network based tuned-controller.

Źródło:

World Scientific News; 2019, 121; 9-16
2392-2192

Pojawia się w:

World Scientific News

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 98.

Tytuł:

An improved dynamic surface sliding mode method for autonomous cooperative formation control of underactuated USVS with complex marine environment disturbances

Autorzy:

Dong, Zaopeng
Qi, Shijie
Yu, Min
Zhang, Zhengqi
Zhang, Haisheng
Li, Jiakang
Liu, Yang

Powiązania:

https://bibliotekanauki.pl/articles/32909478.pdf

Data publikacji:

2022

Wydawca:

Politechnika Gdańska. Wydział Inżynierii Mechanicznej i Okrętownictwa

Tematy:

underactuated USV
dynamic surface sliding mode control
lateral velocity tracking differentiator
nonlinear disturbance observer

Opis:

In this paper, a novel dynamic surface sliding mode control (DSSMC) method, combined with a lateral velocity tracking differentiator (LVTD), is proposed for the cooperative formation control of underactuated unmanned surface vehicles (USVs) exposed to complex marine environment disturbances. Firstly, in view of the kinematic and dynamic models of USVs and the design idea of a virtual control law in a backstepping approach, the trajectory tracking control problem of USVs’ cooperative formation is transformed into a stabilisation problem of the virtual control law of longitudinal and lateral velocities. Then, aiming at the problem of differential explosion caused by repeated derivation in the process of backstepping design, the first-order low-pass filter about the virtual longitudinal velocity and intermediate state quantity of position is constructed to replace differential calculations during the design of the control law, respectively. In order to reduce the steady-state error when stabilising the virtual lateral velocity control law, the integral term is introduced into the design of the sliding mode surface with a lateral velocity error, and then the second-order sliding mode surface with an integral is structured. In addition, due to the problem of controller oscillation and the role of the tracking differentiator (TD) in active disturbance rejection control (ADRC), the LVTD is designed to smooth the state quantity of lateral velocity. Subsequently, based on the dynamic model of USV under complex marine environment disturbances, the nonlinear disturbance observer is designed to observe the disturbances and compensate the control law. Finally, the whole cooperative formation system is proved to be uniformly and ultimately bounded, according to the Lyapunov stability theory, and the stability and validity of the method is also verified by the simulation results.

Źródło:

Polish Maritime Research; 2022, 3; 47-60
1233-2585

Pojawia się w:

Polish Maritime Research

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 99.

Tytuł:

Performance analysis of the sensorless adaptive sliding-mode neuro-fuzzy control of the induction motor drive with MRAS-type speed estimator

Autorzy:

Orłowska-Kowalska, T.
Dybkowski, M.

Powiązania:

https://bibliotekanauki.pl/articles/201110.pdf

Data publikacji:

2012

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

electrical drive
induction motor
adaptive control
sliding mode control
neuro-fuzzy control
sensorless control

Opis:

This paper discusses a model reference adaptive sliding-mode control of the sensorless vector controlled induction motor drive in a wide speed range. The adaptive speed controller uses on-line trained fuzzy neural network, which enables very fast tracking of the changing speed reference signal. This adaptive sliding-mode neuro-fuzzy controller (ASNFC) is used as a speed controller in the direct rotor-field oriented control (DRFOC) of the induction motor (IM) drive structure. Connective weights of the controller are trained on-line according to the error between the actual speed of the drive and the reference model output signal. The rotor flux and speed of the vector controlled induction motor are estimated using the model reference adaptive system (MRAS) – type estimator. Presented simulation results are verified by experimental tests performed on the laboratory-rig with DSP controller.

Źródło:

Bulletin of the Polish Academy of Sciences. Technical Sciences; 2012, 60, 1; 61-70
0239-7528

Pojawia się w:

Bulletin of the Polish Academy of Sciences. Technical Sciences

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 100.

Tytuł:

Bifurcation analysis, circuit design and sliding mode control of a new multistable chaotic population model with one prey and two predators

Autorzy:

Vaidyanathan, Sundarapandian
Benkouider, Khaled
Sambas, Aceng
Darwin, P.

Powiązania:

https://bibliotekanauki.pl/articles/27312005.pdf

Data publikacji:

2023

Wydawca:

Polska Akademia Nauk. Czasopisma i Monografie PAN

Tematy:

population biology system
chaos
chaotic systems
synchronization
sliding mode control
Multisim
circuit simulation

Opis:

In this work, we report a new chaotic population biology system with one prey and two predators. Our new chaotic population model is derived by introducing two nonlinear interaction terms between the prey and predator-2 to the Samardzija-Greller population biology system (1988). We show that the new chaotic population biology system has a greater value of Maximal Lyapunov Exponent (MLE) than the Maximal Lyapunov Exponent (MLE) of the Samardzija-Greller population biology system (1988). We carry out a detailed bifurcation analysis of the new chaotic population biology system with one prey and two predators. We also show that the new chaotic population biology model exhibits multistability with coexisting chaotic attractors. Next, we use the integral sliding mode control (ISMC) for the complete synchronization of the new chaotic population biology system with itself, taken as the master and slave chaotic population biology systems. Finally, for practical use of the new chaotic population biology system, we design an electronic circuit design using Multisim (Version 14.0).

Źródło:

Archives of Control Sciences; 2023, 33, 1; 127--153
1230-2384

Pojawia się w:

Archives of Control Sciences

Dostawca treści:

Biblioteka Nauki

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