CDC2000 Implementation Issues of Sliding Mode Control Theory

Implementation Issues of Sliding Mode Control Theory
Home Full List of Titles 1: Proceedings of CDC2000 Discrete Event Systems Control in Communication Systems Optimal Control and Applications I Optimisation Approaches and Methods Model Predictive Control Advances in Linear Estimation Stochastic and Uncertain Systems Nonlinear Control and Applications Nonlinear Estimation and Filtering Formation Control and its Applications New Approaches to Fuzzy Control Manufacturing Systems Automotive Applications Stability Issues in Hybrid Control Recent Advances in Stochastic Networks Optimal Control and Applications II Robust Controller Design - mu, L1 and H2 Constrained and Receding Horizon Control Identification and Control around the World Markov Decision Processes Nonlinear Optimisation Observers for Nonlinear Systems Motion Planning Neural / Fuzzy Stability and Control Motor Control Control of Quantum Phenomena I Hybrid Systems Methods Control in Communication Networks Robustness and Optimisation Bumpless Transfer, Antiwindup and Saturation Adaptive Control: Linear Systems Estimation and Closed Loop Identification Control of Markov Processes Nonlinear Filtering and Control Modelling, Identification and Validation of Nonlinear Systems Differential Geometric Control Theory for Mechanical Systems Nonlinear Output Feedback Control Pneumatics and Compression Systems Control of Quantum Phenomena II Stability of Hybrid Systems Performance Analysis in Communication Networks Adaptive Control of Nonlinear Systems LMI Methods in Design Robust Control of Time Delay Systems Subspace Identification Methods Nonlinear Stochastic Filtering and Estimation Bifurcations, Chaos and Control I New Progress in Synthesis of Nonlinear Systems I Implementation Issues of Sliding Mode Control Theory Control of Mixing in Shear Flows Novel Neural Network Control Techniques for Industrial Motion Control Systems Physiological Control Systems Optimal Control of Hybrid Systems Stochastic Models for Communication Networks Control and Stabilisation of Nonlinear Systems New Directions in Robust Control Linear Systems Theory Advanced Topics in Systems Theory Estimation in Action Bifurcations, Chaos and Control II New Progress in Synthesis of Nonlinear Systems II Numerical Design and Analysis Techniques for Nonlinear Systems Analysis and Control of Underactuated Systems Sliding Mode Control I Challenges in the Application of Control to Computer Systems Estimation and Diagnosis of Discrete Event Systems Communications and Games Optimal Control Stochastic Systems Model Reduction Methodologies Identification and Subspace Methods Applications of Nonlinear Adaptive Control Advances in Nonlinear Output Feedback Design The Behavioural Approach to Systems and Control Vision Based Estimation and Control: Recent Advances and Open Problems Agile Control of Military Operations Sliding Mode Control II Model-based Fault Diagnosis of Industrial Processes Discrete Event Systems / Petri Nets System Identification and Confidence Estimation New Approaches to H-Infinity Control I Probabilistic Approaches to Robust Control Time Delay System Stabilisation Identification Methods Controlled Stochastic Processes Output Feedback of Nonlinear Systems Topics in Nonlinear Stabilisation Mobile Robots: Tracking Control Robust Control of Nonlinear Systems Power Systems Stabilisation and Control Disk Drive Control Hybrid Control Applications Discrete Time Systems New Approaches to H-Infinity Control II Linear Systems with Saturating Actuators New Theories in Distributed Parameter Systems Applications of Estimation and Identification Stochastic Control and Tuning Methodologies Control of Nonlinear Systems Iterative Learning and Control Coordinating Robot Systems Nonlinear Time Varying Systems Novel Applications of Neural Networks Aerospace Applications Switched Systems Implicit and Descriptor Systems LQG Periodic Systems and Disturbances New Horizons for Distributed Parameter Systems State Estimation Learning and Neuro-Control Nonlinear Control and Stabilisation I Tracking Vision Servoing Controllability of Nonlinear Systems Control of Flexible Systems Electro-Mechanical Systems Robust Control Methods and Applications Fault Detection and Diagnosis Optimisation and Applications Robust Stability Analysis Numerical Methods in Control Filtering in Continuous Time Stochastic Systems Interplay between Control and Signal Processing Fault Detection and Analysis Nonlinear Dynamical Systems Nonlinear Time Delay Systems Computational Issues in Nonlinear Control Disturbance Rejection Process Control Industry Applications Linear Parameter Varying Systems Linear Control Systems Dynamic and Nonlinear Programming Model Reduction Applications New Techniques for Control and Systems: Numerical Linear Algebra Estimation and Identification using Hidden Markov Models Applications of Stochastic Control Topics in Linear Design Nonlinear Control and Stabilisation II Ambulatory Robot Systems Chaotic and Oscillatory Systems Biomedical System Control Integrated Control and CPU Scheduling Linear Design Techniques Adaptive Disturbance / Noise Compensation Nonlinear Model Predictive Control Sensitivity Design, Analysis and Limitations Analysis of Linear Systems Linear Matrix Inequalities in Design Lyapunov's 2nd Method Robotics: Tracking Control Lagrangian and Hamiltonian Theory Variable Structure Control Machine Vision Signal Processing Methods in Control Applied Nonlinear Control Author Index A B C D E F G H I J K L M N O P Q R S T U V W X Y Z	A Sliding Mode Output Feedback Controller for an Aircraft System with Flexible Modes Authors: Christopher Edwards, Sarah K. Spurgeon, Ashu Akoachere, Volume: 1, Page 1673 Paper number 3701 Abstract: This paper considers a framework for sliding mode control design. Linear Matrix Inequality (LMI) based techniques are used to design the output dependent switching surface and to determine a control law to effect a sliding motion. The reachability condition is not required to be satisfied globally. Instead sliding is only expected to take place within a subset of the state-space referred to as the sliding patch. The LMI optimisation seeks to maximise the sliding patch subject to certain constraints. The efficacy of the proposed control design method is demonstrated on a non-trivial design example - an aircraft system representation which includes the flexible modes of the airframe. CD003701.PDF (From Author) TOP Sliding Mode Control of a Differentially Flat Vibrational Mechanical System: Experimental Results Authors: Josue Enríquez-Zárate, Gerardo Silva-Navarro, Hebertt Sira-Ramírez, Volume: 1, Page 1679 Paper number 3702 Abstract: In this paper the differential flatness property and a sliding mode controller are applied to a vibrating mechanical system in order to achieve asymptotic output tracking and disturbance attenuation. The mechanical system consists of two masses connected with springs. The output to be controlled is the position of the underactuated mass, which is directly affected by an undesirable vibration (harmonic force with variable excitation frequency). The active vibration control scheme exploits the differential flatness property during the control design, employing only position measurements and approximate time differentiation, and is dynamically able to track an off-line planned trajectory in spite of small disturbances. The overall system performance is validated by some numerical simulations and experimental results in a physical platform. CD003702.PDF (From Author) TOP Design of Variable Structure Controller: From Sliding Mode to Sliding Sector Authors: Yaodong Pan, Katsuhisa Furuta, Satoshi Suzuki, Shoshiro Hatakeyama, Volume: 1, Page 1685 Paper number 3703 Abstract: The Variable Structure Control (VSC) system has been mainly considered for continuous-time systems in the form of sliding mode. In this paper instead of sliding mode, we will design a generalized sliding sector, which is a subset around a hyperplane s(x) = 0 and bounded by two surfaces s^2(x) = (delta)^2(x), where s(x) = 0 is a sliding mode which is designed such that the reduced order system in the sliding mode is stable, (delta)(x,t) is a positive function on x and t. With the generalized sliding sector, a VS control law is designed to ensure that the state moves into the generalized sliding sector in a finite time and some Lyapunov function keeps decreasing in the state space. Therefore the proposed VS control system is quadratic stable. We take a rotational inverted pendulum apparatus to evaluate the proposed VS control algorithm. With the proposed VS control method, the control performance is satisfactory and no chattering happens because the VS control law proposed in the paper is smooth and its gain becomes smaller when the state is inside the generalized sliding sector. CD003703.PDF (From Author) TOP Second Order Sliding Mode Control For Induction Motor Authors: Thierry Floquet, Jean-Pierre Barbot, Wilfrid Perruquetti, Volume: 1, Page 1691 Paper number 3704 Abstract: In the following paper, an output feedback tracking problem is solved for the asynchronous motor. The control is a second order sliding mode one whereas the observer is a first order based one. This output feedback has been implemented on an experimental set-up dedicated to horizontal handling and the experimental results are given in this paper. CD003704.PDF (From Author) TOP Load Swing Damping in Overhead Cranes by Sliding Mode Technique Authors: Giorgio Bartolini, Nicola Orani, Alessandro Pisano, Elio Usai, Volume: 1, Page 1697 Paper number 3705 Abstract: Moving a suspended load is not an easy task when strict specifications on the swing angle and on the transfer time need to be satisfied. Nevertheless, these type of requirements are always present in industry because they are related to operation safety and cost. Intuitively, minimizing the cycle time and the load swing are conflicting requirements, and their satisfaction requires proper control actions, especially if some uncertainties in the system dynamics are present. In this paper we propose a simple control scheme based on second order sliding modes, which is proved to be effective also in the case of poor knowledge of the system dynamics and/or parameters. Such controller has been tested on a laboratory-size model of an overhead crane by means of commercial devices, and some experimental results are reported within the paper. CD003705.PDF (From Author) TOP Higher Order Sliding: Differentiation And Black-Box Control Authors: Arie Levant, Volume: 1, Page 1703 Paper number 3706 Abstract: Sliding modes describe motions on discontinuity sets of dynamic systems and are provided by a persistent system switching with theoretically infinite frequency. The standard sliding modes are applicable to control output variables with relative degree 1. Having preserved or generalized the main properties of standard sliding mode, higher order sliding modes (HOSM) may be applied with any relative degree and, when properly used, totally remove the chattering effect. That allows full real-time control of the output variables, when only the relative degree of the dynamic system is known, and the system is actually considered as a "black box". The HOSM controllers being based on the use of real-time higher-order output derivatives, robust exact differentiation becomes the key problem of the HOSM theory. Fortunately, the HOSM technique may also be applied to solve the differentiation problem. Differentiation usage in HOSM control is demonstrated by computer simulation of model and real-life examples. CD003706.PDF (From Author) TOP