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Wang, Bin, and s3115026@student rmit edu au. "On Discretization of Sliding Mode Control Systems." RMIT University. Electrical and Computer Engineering, 2008. http://adt.lib.rmit.edu.au/adt/public/adt-VIT20080822.145013.
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Sliding mode control (SMC) has been successfully applied to many practical control problems due to its attractive features such as invariance to matched uncertainties. The characteristic feature of a continuous-time SMC system is that sliding mode occurs on a prescribed manifold, where switching control is employed to maintain the state on the surface. When a sliding mode is realized, the system exhibits some superior robustness properties with respect to external matched uncertainties. However, the realization of the ideal sliding mode requires switching with an infinite frequency. Control algorithms are now commonly implemented in digital electronics due to the increasingly affordable microprocessor hardware although the essential conceptual framework of the feedback design still remains to be in the continuous-time domain. Discrete sliding mode control has been extensively studied to address some basic questions associated with the sliding mode control of discrete-time systems with relatively low switching frequencies. However, the complex dynamical behaviours due to discretization in continuous-time SMC systems have not yet been fully explored. In this thesis, the discretization behaviours of SMC systems are investigated. In particular, one of the most frequently used discretization schemes for digital controller implementation, the zero-order-holder discretization, is studied. First, single-input SMC systems are discretized, stability and boundary conditions of the digitized SMC systems are derived. Furthermore, some inherent dynamical properties such as periodic phenomenon, of the discretized SMC systems are studied. We also explored the discretization behaviours of the disturbed SMC systems. Their steady-state behaviours are discussed using a symbolic dynamics approach under the constant and periodic matched uncertainties. Next, discretized high-order SMC systems and sliding mode based observers are explored using the same analysis method. At last, the thesis investigates discretization effects on the SMC systems with multiple inputs. Some conditions are first derived for ensuring the
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Thome, De Faria Cassio. "Robust Model-Based Control of Nonlinear Systems for Bio-Inspired Autonomous Underwater Vehicles." Diss., Virginia Tech, 2013. http://hdl.handle.net/10919/23792.
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The growing need for ocean surveillance and exploration has pushed the development of novel autonomous underwater vehicle (AUV) technology. A current trend is to make use of bio-inspired propulsor to increase the overall system efficiency and performance, an improvement that has deep implications in the dynamics of the system. The goal of this dissertation is to propose a generic robust control framework specific for bio-inspired autonomous underwater vehicles (BIAUV). These vehicles utilize periodic oscillation of a flexible structural component to generate thrust, a propulsion mechanism that can be tuned to operate under resonance and consequently improve the overall system efficiency. The control parameter should then be selected to keep the system operating in such a condition. Another important aspect is to have a controller design technique that can address the time-varying behaviors, structured uncertainties and system nonlinearities. To address these needs a robust, model-based, nonlinear controller design technique is presented, called digital sliding mode controller (DSMC), which also takes into account the discrete implementation of these laws using microcontrollers. The control law is implemented in the control of a jellyfish-inspired autonomous underwater vehicle.Ph. D.
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Damazo, Graciliano Antonio. "Controle com modos deslizantes aplicado em sistemas com atraso e acesso somente à saída /." Ilha Solteira : [s.n.], 2008. http://hdl.handle.net/11449/87264.
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Orientador: José Paulo Fernandes GarciaBanca: Laurence Duarte Colvara
Banca: Ivan Nunes da Silva
Resumo: O enfoque principal do trabalho foi dado ao Controle Discreto com Modos Deslizantes(CDMD) aplicado em sistemas que possuem atraso no processamento do sinal de controle e acesso somente à saída do sistema. A estratégia de controle tem por objetivo a utilização de técnicas de controle com modos deslizantes para a elaboração de uma lei de controle simples e robusta às incertezas da planta e ao atraso. O observador de estados apresentado possui características de modo deslizante, o qual realiza a estimação robusta do vetor de estados que na maioria dos casos práticos não é totalmente acessível. Os métodos de projetos propostos podem ser aplicados no controle de plantas estáveis ou instáveis com atraso no sinal de controle e acesso somente à saída da planta. Para comprovar a eficiência dos projetos apresentados neste trabalho, analisou-se o controlador atuando com acesso a todos estados e o controlador atuando juntamente com o observador robusto para a estimação dos estados. Os resultados foram obtidos através de simulações no Sistema Bola e Viga, Sistema Pêndulo Invertido Linear e Sistema Pêndulo Invertido Rotacional que são exemplos de plantas de natureza instável.
Abstract: The main focus was placed on the Discrete Sliding Mode Control (DSMC) applied to systems that have a delay in the processing of the control signal and access to the system output only. The control strategy is intended to use control techniques of sliding modes to elaborate a simple and robust control law against the uncertainties of the plant and the delay. The states observer presented has the characteristics of a sliding mode, which performs the robust estimation of the states vector that, in most practical cases, is not fully accessible. The design methods proposed may be applied to the control of stable or unstable plants with delay on the control signal and access to the plant output only. In order to attest the efficiency of the design presented in this work, the controller was analyzed at work with access to all states and jointly with the robust observer to estimate the states. The results were obtained by means of simulations in the Ball and Beam System, Linear Inverted Pendulum System, and Rotational Inverted Pendulum System, which are examples of plants of unstable nature.
Mestre
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Paula, André Luiz Alexandre de [UNESP]. "Detecção e acomodação de falhas em sistemas incertos com atraso no sinal de controle utilizando modo deslizante." Universidade Estadual Paulista (UNESP), 2011. http://hdl.handle.net/11449/87149.
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paula_ala_me_ilha.pdf: 1575411 bytes, checksum: 888f7fef0b727373d31bd42986d25a09 (MD5)Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)
Usando dois controladores digitais com modos deslizantes, é proposto neste trabalho dois esquemas que minimizam os efeitos degenerativos causados pelo atraso no tempo de compu- tação do sinal de controle, que aqui é tratado como falha. Um observador robusto com modos deslizantes é utilizado neste trabalho, uma vez que nem sempre é possível ter acesso a todos os estados do sistema. Neste trabalho o observador tem um papel fundamental na detecção e acomodação da falha, pois através de um banco de observadores é gerado um resíduo que pos- sibilita a detecção da falha e determina qual controlador deve estar atuando sobre o sistema a ser controlado. Para validar os métodos propostos, são realizadas simulações e experimentos nos modelos do pêndulo invertido e no helicóptero 3DOF; ambos equipamentos da Quanser
Using two digital controllers with sliding mode schemes that minimizes the degenerative effects caused by the delay in the computation time of the control signal are proposed in this work, which is here treated as failure. A robust observer with sliding mode is shown in this work, since it is not always possible to have access to all system states, but in this work the observer has a key role in the failure detection and accommodation, as observers are generated through a residue that directs the performance of the controller on the system being controlled. To test the proposed methods, simulations and experiments are performed on models of the inverted pendulum and the helicopter 3DOF, both Quanser equipment
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Damazo, Graciliano Antonio [UNESP]. "Controle com modos deslizantes aplicado em sistemas com atraso e acesso somente à saída." Universidade Estadual Paulista (UNESP), 2008. http://hdl.handle.net/11449/87264.
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damazo_ga_me_ilha.pdf: 760851 bytes, checksum: d1a0f2a22e4917da6787ce545199a696 (MD5)Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)
O enfoque principal do trabalho foi dado ao Controle Discreto com Modos Deslizantes(CDMD) aplicado em sistemas que possuem atraso no processamento do sinal de controle e acesso somente à saída do sistema. A estratégia de controle tem por objetivo a utilização de técnicas de controle com modos deslizantes para a elaboração de uma lei de controle simples e robusta às incertezas da planta e ao atraso. O observador de estados apresentado possui características de modo deslizante, o qual realiza a estimação robusta do vetor de estados que na maioria dos casos práticos não é totalmente acessível. Os métodos de projetos propostos podem ser aplicados no controle de plantas estáveis ou instáveis com atraso no sinal de controle e acesso somente à saída da planta. Para comprovar a eficiência dos projetos apresentados neste trabalho, analisou-se o controlador atuando com acesso a todos estados e o controlador atuando juntamente com o observador robusto para a estimação dos estados. Os resultados foram obtidos através de simulações no Sistema Bola e Viga, Sistema Pêndulo Invertido Linear e Sistema Pêndulo Invertido Rotacional que são exemplos de plantas de natureza instável.
The main focus was placed on the Discrete Sliding Mode Control (DSMC) applied to systems that have a delay in the processing of the control signal and access to the system output only. The control strategy is intended to use control techniques of sliding modes to elaborate a simple and robust control law against the uncertainties of the plant and the delay. The states observer presented has the characteristics of a sliding mode, which performs the robust estimation of the states vector that, in most practical cases, is not fully accessible. The design methods proposed may be applied to the control of stable or unstable plants with delay on the control signal and access to the plant output only. In order to attest the efficiency of the design presented in this work, the controller was analyzed at work with access to all states and jointly with the robust observer to estimate the states. The results were obtained by means of simulations in the Ball and Beam System, Linear Inverted Pendulum System, and Rotational Inverted Pendulum System, which are examples of plants of unstable nature.
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Paula, André Luiz Alexandre de. "Detecção e acomodação de falhas em sistemas incertos com atraso no sinal de controle utilizando modo deslizante /." Ilha Solteira : [s.n.], 2011. http://hdl.handle.net/11449/87149.
Full textAbstract:
Orientador: José Paulo Fernandes GarciaBanca: Jean Marcos de Souza Ribeiro
Banca: Cristiano Quevedo Andrea
Resumo: Usando dois controladores digitais com modos deslizantes, é proposto neste trabalho dois esquemas que minimizam os efeitos degenerativos causados pelo atraso no tempo de compu- tação do sinal de controle, que aqui é tratado como falha. Um observador robusto com modos deslizantes é utilizado neste trabalho, uma vez que nem sempre é possível ter acesso a todos os estados do sistema. Neste trabalho o observador tem um papel fundamental na detecção e acomodação da falha, pois através de um banco de observadores é gerado um resíduo que pos- sibilita a detecção da falha e determina qual controlador deve estar atuando sobre o sistema a ser controlado. Para validar os métodos propostos, são realizadas simulações e experimentos nos modelos do pêndulo invertido e no helicóptero 3DOF; ambos equipamentos da Quanser
Abstract: Using two digital controllers with sliding mode schemes that minimizes the degenerative effects caused by the delay in the computation time of the control signal are proposed in this work, which is here treated as failure. A robust observer with sliding mode is shown in this work, since it is not always possible to have access to all system states, but in this work the observer has a key role in the failure detection and accommodation, as observers are generated through a residue that directs the performance of the controller on the system being controlled. To test the proposed methods, simulations and experiments are performed on models of the inverted pendulum and the helicopter 3DOF, both Quanser equipment
Mestre
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Bernardes, Thiago Araújo. "Controle sem sensores mecânicos para gerador síncrono a ímã permanente." Universidade Federal de Santa Maria, 2015. http://repositorio.ufsm.br/handle/1/3693.
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Coordenação de Aperfeiçoamento de Pessoal de Nível SuperiorThis Thesis proposes sensorless vector control schemes that combine designed observers in the discrete-time domain to estimate the rotor position and speed for a permanent magnet synchronous generator of non-salient poles. Two control schemes are proposed. The first scheme is based on a discrete sliding mode current observer in series with an adaptive electromotive force observer. Then, the sliding conditions that assure the sliding motion around the sliding surface are derived to ensure the stability of the current observer as well as an innovative design procedure is proposed for it. Moreover, the electromotive force observer is designed using Lyapunov s Discrete Direct Method, which provides the estimated rotor position and speed. The second scheme extends the developed methodology for the former, considering the parametric uncertainties and eliminating the high frequency components of chattering. The second scheme uses a discrete sliding mode current observer as in the first scheme. However, the electromotive force observer is replaced by a phase-locked loop in series with a discrete sliding mode robust differentiator, which follows the proposed methodology for the discrete sliding mode current observer. Experimental results validate the theoretical analysis and demonstrate the performance of the proposed control schemes considering a small scale wind energy conversion system. In addition, proposed schemes are compared with others of the literature. It should be noticed that the whole approach is carried out in discrete time domain making it suitable for a microcontroller or digital signal processor implementation.
Esta Tese propõe esquemas de controle vetorial sem sensores mecânicos de posição e de velocidade que combinam observadores projetados no domínio de tempo discreto para estimar essas variáveis para um gerador síncrono a ímãs permanentes de polos não salientes. Dois esquemas de controle são propostos. O primeiro esquema baseiase em um observador de corrente por modos deslizantes discretos em série com um observador adaptativo de força eletromotriz. Então, as condições de deslizamento que asseguram os modos deslizantes em torno da superfície de deslizamento são estabelecidas no domínio de tempo discreto para garantir a estabilidade do observador de corrente e um inovador procedimento de projeto para ele é proposto. Em seguida, o observador de força eletromotriz é projetado usando o método direto de Lyapunov discreto, que fornece a posição e a velocidade rotóricas estimadas. O segundo esquema estende a metodologia desenvolvida para o primeiro, considerando as incertezas paramétricas bem como eliminando as componentes de alta frequência de chattering. O segundo esquema usa um observador de corrente por modos deslizantes discretos como o primeiro. Entretanto, o observador de força eletromotriz é substituído por um retentor de fase em série com um diferenciador robusto por modos deslizantes discretos, que segue a metodologia proposta para o observador de corrente. Resultados experimentais validam a análise teórica desenvolvida e demonstram o desempenho dos esquemas de controle propostos considerando um sistema de conversão de energia eólica de pequeno porte. Além disso, os esquemas propostos são comparados com outros da literatura. Ressalta-se que a toda abordagem é desenvolvida no domínio de tempo discreto tornando-a apta para uma implementação em microcontroladores e em processadores digitais de sinais.
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Ferraço, Igor Breda. "Controle ótimo por modos deslizantes via função penalidade." Universidade de São Paulo, 2011. http://www.teses.usp.br/teses/disponiveis/18/18153/tde-09112011-161224/.
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Este trabalho aborda o problema de controle ótimo por modos deslizantes via função penalidade para sistemas de tempo discreto. Para resolver este problema será desenvolvido uma estrutura matricial alternativa baseada no problema de mínimos quadrados ponderados e funções penalidade. A partir desta nova formulação é possível obter a lei de controle ótimo por modos deslizantes, as equações de Riccati e a matriz do ganho de realimentação através desta estrutura matricial alternativa. A motivação para propormos essa nova abordagem é mostrar que é possível obter uma solução alternativa para o problema clássico de controle ótimo por modos deslizantes.This work introduces a penalty function approach to deal with the optimal sliding mode control problem for discrete-time systems. To solve this problem an alternative array structure based on the problem of weighted least squares penalty function will be developed. Using this alternative matrix structure, the optimal sliding mode control law of, the matrix Riccati equations and feedback gain were obtained. The motivation of this new approach is to show that it is possible to obtain an alternative solution to the classic problem of optimal sliding mode control.
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Godwin, Bryan. "Discrete sliding mode control of drug infusions." Thesis, Georgia Institute of Technology, 1991. http://hdl.handle.net/1853/16806.
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Edmonds, Shane. "Discrete sliding mode control of magnetic bearings." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 2000. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape4/PQDD_0021/MQ49674.pdf.
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Ming, Qian. "Sliding Mode Controller Design for ABS System." Thesis, Virginia Tech, 1997. http://hdl.handle.net/10919/30598.
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The principle of braking in road vehicles involves the conversion of kinetic energy into heat. This high energy conversion therefore demands an appropriate rate of heat dissipation if a reasonable temperature and performance stability are to be maintained. While the design, construction, and location features severely limit the heat dissipation function of the friction brake, electromagnetic brakes work in a relatively cool condition and avoid problems that friction brakes face by using a totally different working principle and installation location. By using the electromagnetic brake as supplementary retardation equipment, the friction brakes can be used less frequently and therefore practically never reach high temperatures. The brake linings thus have a longer life span, and the potential "brake fade" problem can be avoided. It is apparent that the electromagnetic brake is an essential complement to the safe braking of heavy vehicles. In this thesis, a new mathematical model for electromagnetic brakes is proposed to describe their static characteristics (angular speed versus brake torque). The performance of the new mathematical model is better than the other three models available in the literature in a least-square sense. Compared with old models that treat reluctance as a constant, our model treats reluctance as a function of speed. In this way, the model represents more precisely the aggregate effect of all side effects such as degree of saturation of the iron in the magnet, demagnetizing effects, and air gap. The software program written in Matlab can be used to code different brake characteristics (both static and dynamic) and evaluate their performance in different road scenarios. A controller is designed that achieves wheel-slip control for vehicle motion. The objective of this brake control system is to keep the wheel slip at an ideal value so that the tire can still generate lateral and steering forces as well as shorter stopping distances. In order to control the wheel slip, vehicle system dynamic equations are given in terms of wheel slip. The system shows the nonlinearities and uncertainties. Hence, a nonlinear control strategy based on sliding mode, which is a standard approach to tackle the parametric and modeling uncertainties of a nonlinear system, is chosen for slip control. Due to its robustness properties, the sliding mode controller can solve two major difficulties involved in the design of a braking control algorithm: 1) the vehicle system is highly nonlinear with time-varying parameters and uncertainties; 2) the performance of the system depends strongly on the knowledge of the tire/road surface condition. A nominal vehicle system model is simulated in software and a sliding mode controller is designed to maintain the wheel slip at a given value. The brake control system has desired performance in the simulation. It can be proven from this study that the electromagnetic brake is effective supplementary retardation equipment. The application and control of electromagnetic brakes might be integrated with the design of vehicles and their friction braking systems so that an ideal match of the complementary benefits of both systems might be obtained to increase safety to a maximum while reducing vehicle operating costs to a minimum.Master of Science
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Algarawi, Mohammed. "Non-linear discrete-time observer design by sliding mode." Thesis, Brunel University, 2007. http://bura.brunel.ac.uk/handle/2438/5072.
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Research into observer design for non-linear discrete-time systems has produced many design methods. There is no general design method however and that provides the motivation to search for a new simple and realizable design method. In this thesis, an observer for non-linear discrete-time systems is designed using the sliding mode technique. The equation of the observer error is split into two parts; the first part being a linearized model of the system and the second part an uncertain vector. The sliding mode technique is introduced to eliminate the uncertainty caused by the uncertain vector in the observer error equation. By choosing the sliding surface and the boundary layer, the observer error is attracted to the sliding surface and stays within the sliding manifold. Therefore, the observer error converges to zero. The proposed technique is applied to two cases of observers for nonlinear discrete-time systems. The second case is chosen to be a particular practical system, namely the non-linear discrete-time ball and beam system. The simulations show that the sliding mode technique guarantees the convergence of the observer error for both systems.
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Koshkouei, Ali Jafari. "Continuous and discrete-time sliding mode control design techniques." Thesis, University of Sheffield, 1997. http://etheses.whiterose.ac.uk/15037/.
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Sliding mode control is a well-known approach to the problem of the control of uncertain systems, since it is invariant to a class of parameter variations. Well-established investigations have shown that the sliding mode controller/ observer is a good approach from the point of view of robustness, implementation, numerical stability, applicability, ease of design tuning and overall evaluation. In the sliding mode control approach, the controller and/ or observer is designed so that the state trajectory converges to a surface named the sliding surface. It is desired to design the sliding surface so that the system stability is achieved. Many new methods and design techniques for the sliding controller/ observer are presented in this thesis. LQ frequency shaping sliding mode is a way of designing the sliding surface and control. By using this method, corresponding to the weighting functions in conventional quadratic performance, a compensator can be designed. The intention of observer design is to find an estimate for the state and, if the input is unknown, estimate a suitable input. Using the sliding control input form, a suitable estimated input can be obtained. The significance of the observer design method in this thesis is that a discontinuous observer for full order systems, including disturbance inputs, is designed. The system may not be ideally in the sliding mode and the uncertainty may not satisfy the matching condition. In discrete-time systems instead of having a hyperplane as in the continuous case, there is a countable set of points comprising a so-called lattice; and the surface on which these sliding points lie is named the latticewise hyperplane. Control and observer design using the discrete-time sliding mode, the robust stability of the sliding mode dynamics and the problem of stabilization of discrete-time systems are also studied. The sliding mode control of time-delay systems is also considered. Time-delay sliding system stability is studied for the cases of full information about the delay and also lack of information. The sliding surface is delay-independent as for the traditional sliding surface, and the reaching condition is achieved by applying conventional discontinuous control. A well-known method of control design is to specify eigenvalues in a region in the left-hand half-plane, and to design the gain feedback matrix to yield these eigenvalues. This method can also be used to design the sliding gain matrix. The regions considered in this thesis are, a sector, an infinite vertical strip, a disc, a hyperbola and the intersection ii of two sectors. Previous erroneous results are rectified and new theory developed. The complex Riccati equation, positivity of a complex matrix and the control of complex systems are significant problems which arise in many control theory problems and are discussed in this thesis.
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Govindaswamy, Srinath. "Output sampling based sliding mode control for discrete time systems." Thesis, University of Kent, 2012. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.591931.
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This thesis concerns the development of output-based sliding mode control schemes for discrete time, linear time invariant systems. Unlike most of the work given in the literature in this area, the work is concemed with the development of static output feedback based discrete time sliding mode control schemes for non-minimum phase, non-square systems with arbitrary relative degree and which include unmatched uncertainties. The key concept of extended outputs in discrete time will be introduced. It will be shown that by identifying a minimal set of present and past outputs an augmented system can be obtained which permits the design of a sliding manifold based upon output information only, which renders the sliding manifold stable. Any transmission zeros of the augmented plant will also be shown to be among the transmission zeros of the original plant. It will also be shown that if the extended outputs chosen span the state zero directions of an invariant zero of the system, then the invariant zero disappears from the augmented system. Linear matrix inequalities are then used for sliding surface design. For non-minimum phase, non-square systems with unmatched uncertainties, it will be shown that in some cases the extended outputs can be chosen such that the effect of the disturbance on the sliding surface can be nullified. If this is possible, a procedure to obtain a Lyapunov matrix, which simultaneously satisfies a Riccati inequality and a structural constraint and which is used to formulate the control law that satisfies the reachability condition has been given. For the general case, where the sliding surface is a function of the disturbance, a control law will be chosen such that the effect of the disturbance on the augmented outputs and the sliding manifold will be minimized. Another key contribution of this work is the use of extended outputs for reconfigurable control under sensor loss. The reconfigurable control methodology presented in this work is in discrete time and is a static output feedback based control scheme, unlike most of the reconfigurable control schemes given in the literature which require an estimator and which are continuous time based schemes. Suitable examples, which include multiple sensor failures and a benchmark problem taken from the literature which represents the lateral dynamics of the F-14 aircraft, have been chosen to show the effectiveness of the proposed control design methodologies. - L Abstract T his thesis concerns the development of out put-based sliding mode control schemes for discrete time, linear time invariant systems. Unlike most of the work given in the literature in this area, the work is concerned with the development of static output feedback based discrete time sliding mode control schemes for non-minimum phase, non-square systems with arbitrary relative degree and which include unmatched uncertainties. The' key concept of extended outputs in discrete time will be introduced. It will be shown that by identifying a minimal set of present and past outputs an augmented system can be obtained which permits the design of a sliding manifold based upon output information only, which renders the sliding manifold stable. Any transmission zeros of the augmented plant will also be sho,wn to be among the transmission zeros of the original plant. It will also be shown that- if the extended outputs chosen span the state zero directions of an invariant zero of the system, then the invariant zero disappears from the augment.ed system. Linear matrix inequalities are then used for sliding surface design. For nonminimurn phase, non-square systems with unmatched uncertainties, it will be shown that in some cases the extended outputs can be chosen such ,that the effect of the disturbance on the sliding surface can be nullified. If this is possible, a procedure to obtain a Lyapunov matrix, which simultaneously satisfies a Riccati inequality and a structural constraint and which is used to formulate the control law t hat satisfies the reachability condit ion has been given. For the general case, where the sliding surface is a function of the disturbance, a control law will be chosen such that the effect of the disturbance on the augmented outputs and the sliding manifold will be minimized. Another key contribution of t his work is the use of extended outputs for reconfigurable control under sensor loss. The reconfigura~le control methodology presented in this work is in discrete time and is a static output feedback based control scheme, unlike most of t he reconfigurable control schemes given in the literature which require an estimator and which are continuous time based schemes. Suitable examples, which include multiple sensor failures and a benchmark problem taken from the literature which represents the lateral dynamics of the F-14 aircraft have been chosen to show the effectiveness of the proposed control design methodologies.
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Wei, Hon-Lin, and 魏鶴齡. "Two Layer Discrete Sliding Mode Controller Design." Thesis, 1996. http://ndltd.ncl.edu.tw/handle/96021949584648679834.
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碩士國立交通大學
控制工程系
84
In this thesis, we offer a structure of two layer discrete slidng mode control and suggest a control algorithm used in [19], and we extend that control algorithm to the case which the upper bound of the system unknown disturbance variation magnitude is smaller than the upper bound of the system unknown disturbance magnitude. And we take a example to explain the reason that the distance from the sliding surface being strickly decreasing is not sufficient gurateen the system trajectory can attain the vicinity of the sliding surface. In two layer discrete slidng mode control, a two layer structure is introduced and a concept of finite time reaching is also contained. In controller design we infer a relationship between conficients of control algorithm and the width of two layers , a relationshipbetween conficients of control algorithm and the rough time for a system trajectory reaching A-layer ,and the relationship between coefficients of control algorithm and the upper bound of control error. We can use these relationships as references for tuning control coefficients.
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Zhu, Zhi-Hong, and 朱智鴻. "Discrete-Time Sliding Mode Controller Design with Weak Sliding Condition." Thesis, 1998. http://ndltd.ncl.edu.tw/handle/45156255420128283193.
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碩士國立成功大學
航空太空工程學系
86
In control system design, it is often required that the system behavior is insensitive to the parameter variations and external disturbances. To this problem, variable structure system control is developed and widely applied. Traditional sliding mode control possesses the characteristics that the controlled system is invariant to model uncertainty and external disturbance when the state enters the sliding surface, and the system response follows the dynamics of the sliding surface. However, when the sliding mode controller is realized by digital computer, it is impossible for the control input to switch in a very high frequency and the sliding mode motion will not occurred. The respective robustness vanishes, and the system may become unstable when the sampling period is too long. In this dissertation, a discrete-time sliding control law, which is applied immediately after sensing the system states, is developed to guarantee the existence of the weak-pseudo-sliding mode along the prescribed hyperplane. Due to the effect of the computational delay, an one-sample-delay discrete-time sliding mode control law is developed. Concept of the "modified weak- pseudo-sliding mode" is proposed. The upper bounds of the sampling periods are also determined to ensure the stability.
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Yu-Rong, Hsieh. "Development of Integrated Discrete Twin Sliding Mode Controller." 1999. http://www.cetd.com.tw/ec/thesisdetail.aspx?etdun=U0021-2603200719094620.
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Hsieh, Yu-Rong, and 薛尤榮. "Development of Integrated Discrete Twin Sliding Mode Controller." Thesis, 2000. http://ndltd.ncl.edu.tw/handle/54173681618854776287.
Full textAbstract:
碩士國立臺灣師範大學
工業教育研究所
88
In this study, a new method combines conventional fuzzy logic control (FLC) and difference equation grey prediction to design an integrated discrete twin sliding mode controller (IDTSMC). Due to the reaching mode of conventional sliding mode controller (SMC) is sensitive to parameter variation and external disturbance, the researcher alleviates the sensitivity by modeling the discrete second sliding line to overcome this problem. Fuzzifying the second sliding surface, all the dynamic motion of control system is decided by the modeling fuzzy sliding function. Furthermore, due to the uncertainties of system, the FLC can obtain good control performance without any mathematical operating and attenuate the chattering phenomenon. A homogeneous second order linear difference equation with constant coefficients is presented to build a grey prediction model (DGM). DGM forecasts the future development of phase portrait of second sliding mode. According to the forecasting representative point (RP), it applies a modifying of reaching mode control law to the input of plant after RP fuzzy inference procedure and improves time response of DTSMC. For the purpose of comparing the performance of the controllers in this study, two different plants will be applied by software simulation. In addition, the IDTSMC will be applied to build up a remote DC servo motor speed control system by internet. Operator experiments with remote control without operate DC servo motor test-bed personally to prove the practicability of the theory.
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Lin, MingHsiung, and 林敏雄. "Sliding Mode Controller Design for MIMO Discrete-time System." Thesis, 1996. http://ndltd.ncl.edu.tw/handle/57980216066104672644.
Full textAbstract:
碩士國立中山大學
電機工程研究所
84
A methodology of designing discrete-time sliding mode controllers is proposed in this thesis for a class of multi- input multi-output (MIMO) discrete system. This sliding mode controller is composed of two types of controllers. One is the equivalent control law. which can drive the state trajectories into a bounded region. The other is a switching controller, which can drive the state trajectories into a band region. The combina- tion of these two controller are robust sliding mode controllers which can drive all the state trajectories toward zero if there is no model uncertainties. However if the model uncertainties and/or disturbances exist, the state trajectories will be driven into a bounded region. Several numerical examples are also given for demonstrate the feasibility of the proposed control scheme.
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張俊卿. "The discrete-type dynamic sliding mode controller based on model reference." Thesis, 2001. http://ndltd.ncl.edu.tw/handle/56128303917233438970.
Full textAbstract:
碩士國立中興大學
機械工程學系
89
In this thesis, a discrete-type dynamic sliding mode control scheme based on model reference method is studied. Conventional sliding mode controller design concept assumes that the controlled plane is on the sliding surface initially. However, the controlled plane is away from the sliding surface during the hitting period. To ensure that the controlled plane is with the sliding surface from the initial state, the conventional 2-D sliding plane is replaced by a 3-D surface. The additional dimension takes the initial condition into consideration and therefore enlarges the function of the sliding mode control. Furthermore, the model reference method is used to enable the systematic design of the slope of the sliding surface according to the pre-determined reference model. Computer simulations with the AC servo motor precise positioning application demonstrate that the new proposed discrete sliding mode control scheme performs better than the conventional approach. The AC servo motor can quickly be driven to the desired position with influence of noise and unknown parameters eliminated.
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Chen, Chien-Hung, and 陳建宏. "Discrete Sliding Mode Controller Design Based On Adjustable Approaching Rate." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/60452709873413651366.
Full textAbstract:
碩士國立交通大學
電機學院電機與控制學程
99
This thesis proposes a novel discrete sliding-mode controller with adjustable reaching rate for discrete systems encountering matched disturbance with unknown upper bound. In addition, by suitably designing the approaching mode, high frequency transient response and high gain control input can be avoided. There are two steps to design the discrete sliding-mode control. First, choose an appropriate hyper-surface and the system will reach the control goal when it moves along the hyper-surface. Besides, select sliding functions such that the system trajectory in the sliding layer will move toward hyper-surface under specific reaching rate. Next, design the control algorithms such that the approaching and sliding condition is satisfied, which completes the controller design. Finally, to verify the feasibility of the proposed sliding-mode controller, numerical simulation is adopted for a linear single-input second order system and a multi-input fourth order system. From the simulation results, the controller is indeed robust to the matched disturbance and the system trajectory in the sliding mode can be steered to reach the hyper-surface in a specific reaching rate.
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Sung, Hsih-Wei, and 宋世偉. "The Discrete Dynamic Sliding Mode Controller for Singular Perturbation System." Thesis, 2000. http://ndltd.ncl.edu.tw/handle/68791625818533172558.
Full textAbstract:
碩士國立中興大學
機械工程學系
88
Abstract A discrete dynamic sliding mode control method for singular perturbation system such as the linear servo motor system is proposed in this thesis. The proposed new sliding mode control scheme consists two major parts. At the first stage, a discrete sliding mode control strategy for the singular perturbation system based-on the robust discrete sliding mode control approach is developed. Following, a discrete dynamic sliding surface design method that automatically generates the relative slope of the sliding surface at each sampling time is derived. Instead of the conventional fixed sliding surface approach, the dynamic surface one is proposed to increase the responding performance and to eliminate the chattering problems. Experimental results illustrate that the new discrete dynamic singular perturbation sliding mode control strategy can be successfully applied to the precise positioning problem of a DC brushless linear motor system.
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Chen, Wen-Cheng, and 陳文政. "SLIDING MODE CONTROLLER DESIGN FOR MULTIVARIABLE DISCRETE-TIME BILINEAR SYSTEMS." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/55459022560922383615.
Full textAbstract:
碩士大同大學
電機工程學系(所)
98
In this thesis, the multivariable discrete time bilinear systems are considered. We adopt two kinds of reaching law that used by quasi-sliding mode control theory to obtain two reaching control laws. Then we apply two reaching control laws which drive the state of the controlled system to a band around the sliding surface. And the system states will remain in a band in finite time. Finally the design techniques are illustrated through two numerical examples. They will demonstrate the feasibility of the proposed controller.
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Huang, Chao-Yen, and 黃昭諺. "The Design of Discrete-Time Sliding Mode Using Differentiable Cerebellar Model Articulation Controller." Thesis, 2001. http://ndltd.ncl.edu.tw/handle/78481989575460546861.
Full textAbstract:
碩士國立臺灣師範大學
工業教育研究所
89
The control law derived by traditional sliding mode control is based on a continuous-time system, which is well known to be robust to the uncertainties of the system and insensitive to parameter variations and to external disturbances. However, if the control law designed on the basis of a continuous sliding mode is directly implemented for discrete-time systems using a digital computer, the performance of control is often unsatisfying on the prescribed specifications, even systems may become unstable. The discrete-time sliding mode controller (DSMC) was derived to improve these problems; however, the suitable control laws are difficult to obtain due to the rigorous limited conditions in the design of DSMC. Therefore, this thesis presents a novel design of discrete-time sliding mode using differentiable cerebellar model articulation controller (DCMAC) so that the above drawbacks can be overcome. Where DCMAC is used to real-time assist the original DSMC. Taking advantage of the excellent capability of DCMAC in nonlinear function learning and patterns generalization promotes the control performance and simplifies the formular deriving process in original DSMC. Compared with the conventional DSMC, this new control design provides a more simple method to design the control law of DSMC and reduces its difficulty of design. According to simulated results, this controller can significantly reduce the tracking error, and effectively elevate the accuracy in control process. Finally one experiment for Ball-Beam Balancing System using proposed controller has performed to demonstrate the feasibility and the control performance in practical control application.
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Wu, Ming, and 吳明. "Toward the Discrete-time Global Quasi-Sliding Mode Controller Design and Its Application." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/21239376819699384111.
Full textAbstract:
博士國立清華大學
動力機械工程學系
103
A novel concept of global quasi-sliding mode control scheme which is extended from a global sliding mode control to establish a quasi-sliding motion that ensures a zigzag motion, which will directly move forward to the original phase portrait throughout the entire sliding dynamic response in discrete-time. The new design of an augmented forcing function is followed by three conditions extended from global sliding mode control. In order to reduce chattering phenomenon from zigzag motion, we also propose a redesign of continuous approximation with smooth saturation and utilize an equivalent D2 wavelet filter to decide smooth interval according to sampling time in system. Finally, in discrete time, we propose a global quasi-sliding mode approach for the different hardware platforms. The experimental results show that it matches global quasi-sliding mode theory and maintain zigzag motion throughout the entire response. And then generalized smooth saturation is adopted to ensure that switching control term will output more force and state response will be converge faster. Therefore, the switching function adopted generalized smooth function gsat(.) would be a balance between control force response and state response.
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Chiou, Shau-Wei, and 邱紹偉. "Study of Quasi-Sliding Mode Controller for a Class of Discrete-Time Nonlinear Systems." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/95580744873953698818.
Full textAbstract:
碩士國立交通大學
電機與控制工程系所
96
In this thesis, we extend Bartoszewicz’s design of quasi-sliding mode control for discrete-time linear systems (1998) to a class of discrete-time nonlinear systems. The selected sliding surface in this extension is allowed to be nonlinear rather than only linear one. Three schemes for the selection of sliding surfaces, and two quasi-sliding mode controllers according to the variation rate of disturbances are presented in this study. The obtained analytic results are also employed to study the control of a trailer-truck system. Simulation results with comparisons to those of fuzzy controllers demonstrate the benefits of the proposed schemes.
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Shen, Chien-Jung, and 沈建榮. "SLIDING MODE CONTROLLER DESIGN OF LINEAR DISCRETE-TIME SYSTEMS WITH DELAYED INPUT AND DISTURBANCE." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/72127330231755311224.
Full textAbstract:
碩士大同大學
電機工程學系(所)
98
In this thesis, a quasi-sliding mode controller for discrete-time linear system with delay input and disturbance is proposed. By using the method of state transformation, a system with the input delay and disturbance delay is transformed to a delay free system. Based on Lyapunov stability theorem , a quasi-sliding mode controller is designed to ensure the system state trajectories were stable to remain in a small band around the desired sliding surface. Finally, two illustrative examples are provided to demonstrate the effectiveness of the proposed controller.
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Chu, Yung-Chun, and 朱泳春. "The Design of Discrete Quasi-Sliding Mode Controllers with Perturbation Estimation." Thesis, 1997. http://ndltd.ncl.edu.tw/handle/09061155745189010596.
Full textAbstract:
碩士國立中山大學
電機工程學系
85
In this thesis, the design of discrete quasi-sliding mode controllers without the knowledge of the upper bound of perturbation for a class of MIMO nonliner discrete-time systems to solve the tracking problems is proposed Basically, the designing process of controllers contains two parts. One part is to design controllers such that the discrete sliding condition can be satisfied, and the sliding variables approach to zero theoretically, the other part is to estimate the perturbation, as they exist. The resultant discrete quasi-sliding mode controllers are robust and can stabilize the whole system. Furthermore, they can increase the tracking accuracy by using previous known informaion of preturbation.
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li, lon-Biao, and 李龍鑣. "Design of Discrete-time Sliding Mode Controller base on Optimal Hitting Mode Control Law in the Presence of Stochastic Disturbance." Thesis, 1996. http://ndltd.ncl.edu.tw/handle/16342317036859709184.
Full textAbstract:
碩士國立臺灣師範大學
工業教育學系
84
Abstract Sliding mode controller within the domain of variable structure control has been developed over thirty years. It applied suitable sliding mode by means of switching the structure of control systems. The system states might be pulled above sliding line (plane). Variable structure controller has very good insensitivity for disturbance or uncertainty system. But when the study uses digital computer to achieve sliding model control , the sliding condition of sliding mode controller is different from that of traditional continuous system. Therefore, it is necessary to design a controller which can correspond to discrete sliding condition. Furthermore, when the system has exogenous disturbances , and we only know the statistic characteristic of these disturbances, how to satisfy the sliding condition and design optimal hitting control law turn into main points of the study. In this thesis, we propose a new method to design discrete sliding mode controller for nonlinear systems. Discrete sliding mode controller is designed based on Lyapunov function. The approach is guaranteed to satisfy the stable discrete time sliding mode condition. It also manipulate the theory of optimal expectation value of statistics. An optimal hitting control law is designed based on the consideration of stochastic disturbance. Besides, a switching algorithm is presented to attenuate the chattering phenomenon. Base on the above research results, It can get effective verification by means of computer software simulation, when acts on linear and nonlinear system.
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Tai, Tsang-Li, and 戴滄禮. "On the design of discrete-time sliding mode controller for a class of systems and its applications." Thesis, 2002. http://ndltd.ncl.edu.tw/handle/34875122190846195487.
Full textAbstract:
博士國立清華大學
動力機械工程學系
90
A discrete-time sliding-mode control scheme for a certain class of systems is proposed to guarantee the existence of sliding-mode as well as to alleviate the chattering. Firstly, a process using auxiliary compensator is introduced and the explicit condition to ensure the one-sided behavior, deadbeat sliding-mode and quasi-sliding mode is derived, which is merely an inequality constraint on controller parameters. This condition also guarantees that the state trajectory starting from any initial condition, will reach the boundary layer of the switching surface in a finite number of steps. Moreover, the controller parameters can be determined via the correlation between the pole location in the z-plane and the time-domain response characteristics. Next, a robust discrete-time sliding-mode approach for a class of perturbed systems is proposed. To overcome the difficulty of conservative design due to over-estimated upper bounds on system perturbations; the discrete-time sliding-mode control law employs a smooth function to alleviate the chattering phenomenon. Conditions for stability are analyzed and given. Also, an estimated reaching time can be pre-calculated. Finally, we propose a discrete-time hierarchical sliding-mode approach for dual-stage systems. Here, we combine the dual-stage positioning servo design phase into only one stage. Therefore, the performance of the coarse tracking and fine tracking stages can be ensured simultaneously. The settling time of the controlled positioning system can be assigned through the choice of a pre-specified sliding hyperplanes. Hence, the proposed methodology can avoid the drawbacks of mode switching control design, such as discontinuity in control input, incompatible dynamic characteristics, and difficulty in estimating the overall settling time and is easy to be implemented for practical applications. Simulation and experimental studies of an uninterruptible power supply control systems, seek control of an optical pick-up head and the dual-stage positioning servo systems are performed to validate the feasibility and the effectiveness of these approaches.
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Hou, Guan-Yin, and 侯冠印. "Design of Adaptive Sliding Mode Controllers for Discrete-time Systems with Matched Perturbations." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/j9gn4g.
Full textAbstract:
碩士國立中山大學
電機工程學系研究所
96
Based on the Lyapunov stability theorem, a methodology of designing robust discrete-time model reference variable structure state tracking controller is proposed in this thesis for a class of multi-input multi-output (MIMO) discrete-time systems. This variable structure controller is composed of three types of controllers. The first one is the feedback control law, which can eliminate the nominal term in the derivative of a Lyapunov function. The second one is the switching control law, which can determine the decreasing rate of the Lyapunov function. The third one is the adaptive control law, which is used to overcome the perturbations. The resultant robust variable structure controllers are capable of driving all the trajectories of tracking errors toward a small bounded region. The information of upper bound of the perturbation, which is not a constant and is dependent on the norm of state variable, is not required beforehand due to some adaptive mechanisms are embedded in the proposed control scheme, and the stability of the overall controlled system is guaranteed. A numerical example and a practical example are given to demonstrate the feasibility of the proposed control scheme.
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Su, Jui-Yiao, and 蘇瑞堯. "Fuzzy Sliding Mode Controller Design with Fuzzy Sliding Mode Observer." Thesis, 1999. http://ndltd.ncl.edu.tw/handle/53082941533057208869.
Full textAbstract:
碩士大同工學院
電機工程研究所
87
This thesis addresses the design of the decoupled fuzzy sliding mode controller and the fuzzy sliding mode observer on the basis of the Takagi-Sugeno’s (T-S) fuzzy model. A large class of fourth-order system such as a cart-pole system could be controlled in both the pole-hyperplane and the cart-hyperplane simultaneously without increasing the number of fuzzy rules. The main ideas of this thesis are as follows: 1. The fuzzification of the sliding surface improves the high frequency switching (chattering phenomena) near the sliding surface and has better performance. 2. The concept of decoupling the system makes the simultaneously control of two distinguish targets possible. 3. With the same fuzzy sliding mode theory, a reduced order estimator can well estimate the true states of the complex system. The numerical simulation of the car-pole system confirms the validity of the proposed approaches.
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LIN, SINN-CHENG, and 林信成. "Fuzzy-sliding mode controller design." Thesis, 1992. http://ndltd.ncl.edu.tw/handle/98650890582325925673.
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Yang, Lee Shi, and 李旭陽. "Sliding Mode Controller Design With Contrrolled Sliding Dynamics." Thesis, 1993. http://ndltd.ncl.edu.tw/handle/17415208925829734529.
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Kuo, Wei-Hung, and 郭威宏. "Discrete time high order sliding mode." Thesis, 2003. http://ndltd.ncl.edu.tw/handle/80884059994515594901.
Full textAbstract:
碩士國立成功大學
航空太空工程學系碩博士班
91
To achieve the required system performance, the control system should robust to system uncertainties and disturbances. The sliding mode controller can be designed systematically with robustness to matched uncertainties. Therefore, it has been widely applied to many theorical studies and industrial applications. The high order sliding mode controller can be considered as an extension of conversional sliding mode controller with less state information required and can suppress or reduce chattering due to the controller output. This make the high-order sliding mode controller more realizable then the conversional sliding mode controller. In this thesis, discrete systems with disturbances are considered. An approach to design 2-order discrete sliding mode controller is proposed. The result can be extended to the high order cases. Using the Lyapunov stability criterion, the resulting system is guaranteed to stay around the desired sliding surface with a specific boundary. The performance of the proposed control system can be achieve, the design objective which indicate its feasibility of the proposed discrete high-order sliding mode controller.
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Shy, Kuen-Yih, and 施昆毅. "Multi-variable Discrete Sliding Mode Control." Thesis, 2002. http://ndltd.ncl.edu.tw/handle/14276621274076315197.
Full textAbstract:
碩士淡江大學
機械工程學系
90
A Sliding Model Control (SMC) is proposed for the temperature control of the thermal barrel in plastic molding processes. Firstly, derive a linear approximate model for the thermal barrel and treat the nonlinear term as an uncertainty or noise. Usually this uncertainty is a matched noise corresponding to the input. Since the Sliding Mode Control is robust to a matched noise, it is appropriate to design a digital sliding mode controller for a nonlinear system. Secondly, time delay of heat transferred in the thermal barrel results in oscillation at the output temperature. A grey prediction control is proposed to solve the problem caused by the time delay. According to literatures, forward grey prediction control decreases the overshoot of step response; on the other hand, backward grey prediction control increases the response speed. Finally, an on-line self-tuning SMC is developed in this paper to prevent extra work on estimation of the system parameters. Meanwhile, the adaptation of the self-tuning SMC extends the application of the controller to a large parameter range. The developed system is applied to thermal control for a plastic molding machine. Two experiments including temperature step response and trapezoid curve following are tested to evaluate the performance of the proposed methodology.
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Chen, Jian-Xuan, and 陳建軒. "Sliding Mode Fuzzy CMAC Controller Design." Thesis, 2006. http://ndltd.ncl.edu.tw/handle/99753805254934632068.
Full textAbstract:
碩士中華技術學院
電子工程研究所碩士班
94
In this thesis, a sliding mode controller which integrates the fuzzy system with the Cerebellar Model Arithmetic Controller (CMAC) is proposed to solve the tracking problem of a class of nonlinear systems. The control law of the proposed sliding mode fuzzy CMAC is used to approximate an ideal control of sliding mode controller for model-free systems. In addition to a compensated controller is designed to assure the system stability. Both control laws are derived from the Lyapunov stability analysis, so that the system tracking ability and the error convergence can be guaranteed in the closed-loop system. Finally, three nonlinear systems, an oscillation system, an inverted pendulum system, and a van-der-pol system are respectively utilized to show the satisfactory performances of the proposed control scheme.
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LIN, WEN-PING, and 林文濱. "Second Order Sliding Mode Controller Applications." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/6ar23c.
Full textAbstract:
博士國立雲林科技大學
工程科技研究所
106
This dissertation presents the design and implementation of second-order sliding mode controllers for a synchronous reluctance motor and a fan -plate system. Second-order sliding mode control (SOSMC) is an effective tool for the control of uncertain nonlinear systems since it overcomes the main drawbacks of conventional sliding mode control, i.e., large control effort and chattering. The practical implementation of SOSMC has simple control laws and assures an improvement in sliding accuracy with respect to conventional sliding mode control. This dissertation proposes a control scheme based on SOSMC. The SOSMC is mathematically derived and its performance is verified by simulation and experiments. The proposed SOSMC is robust against motor or fan-plate system parameter variations and mitigates chattering.
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王聖昌. "Grey fuzzy sliding mode controller design." Thesis, 1994. http://ndltd.ncl.edu.tw/handle/41312258607545822029.
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Huang, Wen-Bin, and 黃文彬. "Pesudo-sliding controller design for discrete-time system." Thesis, 1993. http://ndltd.ncl.edu.tw/handle/30516234764204647769.
Full textAbstract:
碩士國立成功大學
航空太空工程學系
81
In control system design, it is often required that the system behavior is insensitive to the parameter variations and external disturbances. To this problem, variable structure system control (VSSC) theory has been developed to deal with this predicament. The theory of variable structure for continuous system has been successfully developed and applied to various control system. It is well known that it possesses the characteristics of fast response and insensitivities to changes in the system parameters or external disturbances when in the sliding mode. However, the corresponding theory of variable structure for discrete system has not yet been developed completed. It should be noted that all of the works accomplished to date has concentrated upon modifying the control configuration to ensure the sliding motion for the nominal system. However, if there exist uncertainties in the system, the design procedure used in nominal system dose not guarantee stability. Hence, the emphasis of recent researches then focus on ensuring the occurrence of the sliding motion for the uncertain system. However, the work has not yet been successful. In his dissertation, the pseudo-sliding control law is obtained which guarantees the occurrence and the stability of the pseudo- sliding motion using only a state feedback gain. The performance and the robustness of the proposed control system has also been discussed. Since the derived control law is simply a constant feedback gain, it is obvious that the phenomenon of chattering can be reduced, and the system can be analyzed and designed more systematically.
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Lin, Chien-Chih, and 林建智. "Sliding Mode Controller Design for Robust Tracking." Thesis, 2004. http://ndltd.ncl.edu.tw/handle/17548556487121369940.
Full textAbstract:
碩士國立高雄應用科技大學
電機工程系碩士班
92
Based on sliding mode control approach, the robust tracking controller design problems of continuous-time systems with matching and mismatching disturbances are investigated. We fully utilize the degree of freedom of the proportional and integral sliding function in both the linear continuous time-delay systems and output feedback systems. Such applications not only satisfy consideration of stability, but also achieve the goal of tracking. In the continuous-time output feedback systems, we derive the observer with pole-clustering by using LMI (Linear Matrix Inequality) technique and then combine the sliding mode controller to accomplish the goal of stable and tracking. Several examples and simulation results are finally provided to illustrate the validity and performance of the proposed methods.
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Shen, Han-Xian, and 沈漢賢. "Adaptive dynamic fuzzy sliding-mode controller design." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/27641849748817455012.
Full textAbstract:
碩士中華大學
電機工程學系(所)
98
Abstract The controller design for a complicate system is a difficult design, because the dynamic equation of a plant is often unknown. In order to solve the above problems, we study several intelligent methods based on the fuzzy control, the dynamic sliding-mode control and the adaptive control laws. The system stability is ensured by the Lyapunov stability theorem. Particularly, the dynamic fuzzy sliding-mode can reduce the number of rules and inhibit the undesired chattering phenomenon. Then, in order to increase the convergence rate of tracking error and controller parameters, a PI type learning scheme is implemented in the adaptive laws. Moreover, a PI type compensator with boundary switching capacity in the adaptive fuzzy controller is proposed to remove the chattering phenomena and to guarantee the system stable. However, since the selection of its boundary is sensitive to performance, a new compensator without the switching boundary has been developed. Finally, the intelligent control algorithms, which combine fuzzy control, dynamic sliding-mode, adaptive control laws, PI type compensator, and PI type learning, are applied to a chaotic system and a DC motor, respectively. From the simulation and experimental results, they show the developed PI type adaptive fuzzy (sliding-mode) control with new compensator can achieve the better control performance than the others.
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Chang, Tao-Min, and 張道閔. "Global Sliding Mode Controller Design on Robot." Thesis, 1995. http://ndltd.ncl.edu.tw/handle/92273037017393240032.
Full textAbstract:
碩士國立清華大學
動力機械學系
83
A型機械臂為工研院機械所研製的五軸旋轉型小型裝配機械臂 ,由於在各 軸皆使用傳統的比例微分控制器,使得其動態響應特性易受到外界干擾及 參數變動的影響; 而且控制輸入只能從教導盒以教導重現的方式輸入點到 點的座標位置，所以不但無法自行測試或發展新的控制法則, 且其重現精 度並不理想. 因此本研究嘗試以PC/AT486為控制處理系統, 透過8255卡的 輸出/輸入介面,來控制A型機械臂。在控制法則上, 本文採用總體滑動模 式控制器設計觀念, 應用於機械臂循跡控制上且使得控制器的設計有極大 的彈性。此方法並用來重新設計積分式可變結構控制器以顯示它的設計彈 性及優越性。同時為改善傳統滑動模式控制器中響應較慢的設計, 本文亦 採用總體滑動模式控制器設計之觀念提出有限時間到達目標控制法則。由 於滑動模式控制器會面臨抖震的現象，在不犧牲強健性的前題下,本文採 用非線性濾波器改善抖震現象。最後以A型機械臂之循跡控制實驗進一步 驗證本文所提出控制法則的有效性。
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Shang, Li-Jen, and 尚立人. "Adaptive sliding mode controller for robot manipulators." Thesis, 1996. http://ndltd.ncl.edu.tw/handle/27685714775608022566.
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Yu, Fang-Ming, and 尤芳銘. "Practical Fuzzy Sliding Mode Controller for NonlinearSystems." Thesis, 2003. http://ndltd.ncl.edu.tw/handle/66086565169678871948.
Full textAbstract:
博士國立中央大學
電機工程研究所
91
A practical fuzzy sliding mode controller for uncertain time-delay with nonlinear input systems and for a class of nonlinear systems is presented. The controller design deals with the problems of the dimensionality of fuzzy input variables in fuzzy logic control (FLC) and the chattering phenomena in sliding mode control (SMC) effectively. The main results of the proposed method are as follows. 1. We propose two methods to reduce the number of fuzzy input variables. First, without affecting the performance of the system, the proposed single-fuzzy- input quasi fuzzy sliding mode controller (SQ-FSMC) by way of a composite state function reduces the number of rules greatly. Second ly, the design of decoupled single-fuzzy- input fuzzy sliding mode controller (SFI-FSMC) for the fourth-order coupled systems shows a better performance than previous work. 2. For the chattering problem of the SMC, this phenomenon can be reduced effectively with the proposed controller by adjusting the control input near the sliding hyperplane. 3. A self-tuning single-fuzzy-input controller (ST-SFIC) can be easily applied to uncertain time-delay dynamical systems with nonlinear input. The self-tuning scheme dramatically improves the control input behavior. Also, the chattering phenomenon is eliminated effectively. The control algorithm is convenient and easy to utilize. The above methods have been illustrated by the simulation results of the pole and the cart systems as well as the ball and beam systems. In addition, the uncertain time-delay with a nonlinear input system can be stabilized to the equilibrium. The experimental results of the present seesaw system with external disturbance are given.
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Chao, Wen Chinq, and 趙文慶. "Design of a Fuzzy Sliding-Mode Controller." Thesis, 1994. http://ndltd.ncl.edu.tw/handle/28242288906408477844.
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Liou, Yi-lan, and 劉逸嵐. "Particle swarm optimization for the sliding mode controller and model reference sliding mode controller of a fan-plate system." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/90362418604381900343.
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碩士國立雲林科技大學
電機工程系碩士班
101
The fan-plate system is a nonlinear system. In classical control, the controller is designed by using the operating point linearization method. It is suitable in a small region of operating point. It need redesign the controller when operating point changes or external disturbances are added. In this thesis, we first build a sliding mode controller. The sliding mode control is insensitive to system uncertainties and external disturbances. It produces chattering phenomenon when upper bounded uncertainty value is overestimated, or steady-state error when underestimated. The particle swarm optimization theory and model reference adaptive theory were used to reduce the amplitude of chattering and eliminate steady-state error in this thesis. The stability of design algorithms are proved by Lyapunov stability theory. Finally, we employ the experiments to validate that the proposed controllers can track the position commands of the fan-plate system.
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Chang, Fang-Wei, and 張芳瑋. "Design of Fuzzy Model-Based Controller with Sliding Mode Supervisory Controller." Thesis, 2000. http://ndltd.ncl.edu.tw/handle/50467667342657201159.
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碩士大同大學
電機工程研究所
88
This thesis presents a fuzzy on-line identification algorithm and a fuzzy model-based controller for a nonlinear system. Firstly, we represent the nonlinear system by the Takagi-Sugeno fuzzy model and then use the identification algorithm to find the optimal consequent parameter of the fuzzy model. A convergence analysis is carried out too. Then in the controller design procedure, we construct a global fuzzy logic controller by blending all local feedback controllers with a supervisory based on the sliding mode control theory. Unlike the commonly used parallel-distributed compensation (PDC) technique, we can design a global stabilizing fuzzy controller without finding a common Lyapunov function for all local control systems, and can obtain a good tracking performance. Some simulation results are given to show the effectiveness and feasibility of the proposed fuzzy on-line identification algorithm and the fuzzy controller design method.
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Wei, Chi-Yu, and 魏吉佑. "Reduced-Order Observer-Based Sliding Mode Controller Design." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/87084895271634999028.
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碩士國立交通大學
電機學院碩士在職專班電機與控制組
97
This thesis presents reduced-order observer-based sliding mode controller (ROSMC) design. The reduced-order observer, a kind of Luengerger observer and designed by Kudva, is used to accurately estimate the unmeasurable state variables, even under the influence of undesirable disturbance. Besides, the ROSMC also employs a sliding layer to reduce the chattering phenomenon and eliminate the matched disturbance. There are three cases discussed in this thesis, including stability control of system with matched disturbance, stability control of system with mismatching disturbance, and output tracking control of system with disturbance. To demonstrate the usefulness of the ROSMC, there are six examples given and simulated by the software package MATLAB. The simulation results are mainly used to show the effect on the observer caused by the dimension of unmeasurable state variables, the effect on the system stability and performance caused by matched and mismatching disturbance, the effect on the output tracking control caused by disturbance. Form the simulation results, the developed ROSMC is indeed able to achieve the desired control goal.
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Chen, Jiun-Cheng, and 陳俊丞. "Fuzzy Sliding Mode Controller Design with Adaptation Laws." Thesis, 2001. http://ndltd.ncl.edu.tw/handle/10254334488290496587.
Full textAbstract:
碩士大同大學
電機工程研究所
89
The variable structure control (VSC) method with sliding mode control (SMC) has been found in many applications. In this thesis, we concern the design of robust control systems using sliding mode control that incorporates a fuzzy tuning technique and a parameter adaptation method. The control law superposes equivalent control, switching control, and fuzzy control. An equivalent control law is designed first. Switching control is then added to guarantee that the state reaches the sliding mode in the present of parameter and disturbance uncertainties. Fuzzy control schemes are used to improve control performance and to reduce the chattering phenomenon in the sliding mode. The design of sliding mode control is based on a prior knowledge of bounds of uncertainties and external disturbances. However, because of the complexity and unpredictability of the structure of uncertainties and external disturbances, the upper bounds on the norm of the uncertainties and external disturbances may not be easily obtained. For this reason, a methodology by which the boundary values on the uncertainties can be easily obtained is required. A parameter adaptation method offers an appealing tool to solve this problem. We demonstrate that the proposed fuzzy sliding mode controller with adaptation laws is applicable to the model of the physical system, such as an inverted-pendulum system.