CDC2000 Sliding Mode Control I

Sliding Mode Control I
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	Hybrid Sliding Mode Control For A Set Of Interconnected Nonlinear Components Authors: Luisa Giacomini, Behzad Bordbar, David J. Holding, Volume: 1, Page 2180 Paper number 1149 Abstract: The paper reports the use of sliding mode control in the design of a hybrid controller for a distributed system comprising a pair of loosely-coupled inverted pendulums. A sliding mode controller is designed to independently drive each pendulum mechanism to provide stabilization and profiled motion control. Then, to accomplish a reschedulable sequence of tasks, a supervisory system is developed using compositional methods and is modelled and analysed using controlled Petri nets. It is shown that using an appropriate coordination strategy it is possible to achieve a stability envelope for the composite system which is greater than that of the individual components. CD001149.PDF (From Author) TOP Stability Analysis Of A Sliding Observer Based Robust Output Tracking Control Design For A Nonlinear System Authors: Ibrahim Haskara, Ümit Özgüner, Volume: 1, Page 2186 Paper number 94 Abstract: In this paper, an observer based robust output tracking controller design is proposed for a class of nonlinear systems which are input-output linearizable. An ultimate boundedness analysis is presented for an equivalent control based sliding observer where the estimation accuracy is eventually expressed in terms of a single parameter. The observer is incorporated into the closed loop to implement an ideal tracking control law and a complete Lyapunov observer/controller synthesis is performed to prove the ultimate boundedness of the tracking error. CD000094.PDF (From Author) TOP Second Order Sliding Mode Control of Systems with Nonlinear Friction Authors: Giorgio Bartolini, Elisabetta Punta, Volume: 1, Page 2192 Paper number 1227 Abstract: This paper deals with the control of mechanical systems subjected to uncertainties and disturbances of various nature, including friction. The proposed solution is based on sliding-mode control theory, which has been shown to be highly effective in counteracting uncertainties and disturbances for some classes of uncertain nonlinear systems. Specific drawback presented by the classical sliding mode techniques is the chattering phenomenon. This problem is addressed in the paper by exploiting the robustness properties of second-order sliding-mode control algorithms. An algorithm of this kind, recently developed by the authors, is proved to be effective to stabilize, with arbitrarily exponentially fast transient, mechanical systems subjected to static and Coulomb friction. CD001227.PDF (From Author) TOP Robust Global Terminal Sliding Mode Control of SISO Nonlinear Uncertain Systems Authors: Shuanghe Yu, Xinghuo Yu, Zhihong Man, Volume: 1, Page 2198 Paper number 1374 Abstract: A global terminal sliding mode controller is proposed for higher order SISO nonlinear dynamic systems by employing the fast terminal sliding mode concept in both the reaching phase and the sliding phase. The inherent dynamical properties of the fast terminal sliding modes and the recursive mechanism for application in higher order systems are explored. A control design procedure is developed. It is shown that, by suitably choosing the parameters of the fast terminal sliding modes, the system state variables will reach the fast terminal sliding manifolds within a desired finite time, and stay in the sliding modes thereafter, resulting in the convergence to the equilibrium in a finite time which can also be prespecified. The control law designed, which is called "the global terminal sliding mode control", is nonlinear and continuous. It does not cause chattering in the reaching phase and sliding phase. The robustness analysis shows that the proposed global terminal sliding mode controller has superior robustness in system uncertainties and external disturbances. Simulation studies are presented to validate the proposed scheme. CD001374.PDF (From Author) TOP Using Lyapunov Matrices for Sliding Mode Design Authors: Kyung-Soo Kim, Youngjin Park, Volume: 1, Page 2204 Paper number 1385 Abstract: In this manuscript, a property of Lyapunov matrices is proposed and its application to sliding mode design is addressed. It will be shown that the sliding modes which guarantee the desired sliding behavior can be obtained by manipulating Lyapunov matrices associated with the full order systems. The proposed approach enables us to adopt a variety of Lyapunov- (or Riccati-) based approaches for the sliding mode design. Applications to uncertain systems, systems with uncertain state delay, pole-clustering problems, multi-objective approach and etc. are discussed. CD001385.PDF (From Author) TOP Nonconservative Sliding Mode Control with the Feedback Linearization for Nonlinear System Authors: Seung Kyu Park, Ho Kyun Ahn, Volume: 1, Page 2210 Paper number 9086 Abstract: An advantage of the feedback linearization technique is to make linear control theories can be used for nonlinear system. This advantage disappear when the SMC is used with the feedback linearization for uncertain nonlinear systems because the SMC can not be combined with a linear controller. In this paper, by defining a novel sliding surface, it is made possible that the feedback linearization technique, a linear controller and the SMC are used together for uncertain nonlinear system and the feedback linearization technique can have the robustness without loosing its advantage. The novel sliding surface of the SMC can have the dynamics of the nominal nonlinear system controlled by the feedback linearization technique. The noble design of the sliding surface is based on the augmented system whose dynamics have a higher order than that of the original system. The reaching phase is removed by using an initial virtual state which makes the initial sliding function equal to zero CD009086.PDF (From Author) TOP