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Hasturk, Ozgur. "The Stabilization Of A Two Axes Gimbal Of A Roll Stabilized Missile." Master's thesis, METU, 2011. http://etd.lib.metu.edu.tr/upload/12613591/index.pdf.
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Nowadays, high portion of tactical missiles use gimbaled seeker. For accurate target tracking, the platform where the gimbal is mounted must be stabilized with respect to the motion of the missile body. Line of sight stabilization is critical for fast and precise tracking and alignment. Although, conventional PID framework solves many stabilization problems, it is reported that many PID feedback loops are poorly tuned. In this thesis, recently introduced robot control method, proxy based sliding mode control, is adopted for the line of sight (LOS) stabilization. Before selecting the proposed method, adaptive neural network sliding mode control and fuzzy control are also implemented for comparative purposes. Experimental and simulation results show a satisfactory response of the proxy based sliding mode controller.
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Chang, Hao-Chi. "Sliding mode control design based on block control principle /." The Ohio State University, 2002. http://rave.ohiolink.edu/etdc/view?acc_num=osu1486461246815228.
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Cakanel, Ahmet. "SELF-OPTIMIZATION SYSTEMS DESIGN BASED ON SLIDING MODE CONTROL." The Ohio State University, 2017. http://rave.ohiolink.edu/etdc/view?acc_num=osu1511264100476327.
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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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Hasanaj, Edmir. "Experimental investigation of the boundary layer-based sliding mode control and single-input model-based sliding mode fuzzy logic control with applications to robot manipulators." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 2000. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape4/PQDD_0019/MQ54109.pdf.
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Parisi, Aaron Thomas. "An Application of Sliding Mode Control to Model-Based Reinforcement Learning." DigitalCommons@CalPoly, 2019. https://digitalcommons.calpoly.edu/theses/2054.
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The state-of-art model-free reinforcement learning algorithms can generate admissible controls for complicated systems with no prior knowledge of the system dynamics, so long as sufficient (oftentimes millions) of samples are available from the environ- ment. On the other hand, model-based reinforcement learning approaches seek to leverage known optimal or robust control to reinforcement learning tasks by mod- elling the system dynamics and applying well established control algorithms to the system model. Sliding-mode controllers are robust to system disturbance and modelling errors, and have been widely used for high-order nonlinear system control. This thesis studies the application of sliding mode control to model-based reinforcement learning. Computer simulation results demonstrate that sliding-mode control is viable in the setting of reinforcement learning. While the system performance may suffer from problems such as deviations in state estimation, limitations in the capacity of the system model to express the system dynamics, and the need for many samples to converge, this approach still performs comparably to conventional model-free reinforcement learning methods.
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Bin, Salamah Yasser. "Sliding Mode based Extremum Seeking Control for Multivariable and Distributed Optimization." The Ohio State University, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=osu15550794810081.
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Lienard, David E. "Autopilot design for autonomous underwater vehicles based on sliding mode control." Thesis, Monterey, California : Naval Postgraduate School, 1990. http://edocs.nps.edu/npspubs/scholarly/theses/1990/Jun/90Jun_Lienard.pdf.
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Thesis (M.S. in Mechanical Engineering and Mechanical Engineer)--Naval Postgraduate School, June 1990.Thesis Advisor(s): Papoulias, Fotis A. ; Healey, Anthony J. "June 1990." Description based on title screen as viewed on 19 October 2009. DTIC Descriptor(s): Automatic Pilots, Control, Control Theory, Degrees Of Freedom, Depth Control, Guidance, Line Of Sight, Mathematical Models, Nonlinear Systems, Range (Extremes), Self Operation, Sliding, Underwater Vehicles, Velocity. DTIC Indicator(s): Autonomous, Underwater vehicles, Guidance, Control. Author(s) subject terms: Autonomous, Underwater vehicles, AUV, Guidance, Control. Includes bibliographical references (p. 116-117). Also available in print.
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Li, Yufeng. "High precision motion control based on a discrete-time sliding mode approach." Doctoral thesis, KTH, Machine Design, 2001. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-3293.
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Sudakar, Madhavan. "Novel control techniques for a quadrotor based on the Sliding Mode Controller." University of Cincinnati / OhioLINK, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1613746605628363.
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Yan, Xinming. "Development of robust control based on sliding mode for nonlinear uncertain systems." Thesis, Ecole centrale de Nantes, 2016. http://www.theses.fr/2016ECDN0012.
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Le travail de thèse présenté dans ce mémoire s’inscrit dans le cadre du développement de lois de commande pour des systèmes non linéaires incertains, basées sur la théorie des modes glissants. Les méthodes classiques de la commande par modes glissants sont des lois de commande par retour d’état, où la variable de glissement et ses dérivées sont nécessaires. Le premier objectif de cette thèse est de proposer des lois de commande par modes glissants d’ordre supérieur avec une réduction de l’ordre de dérivation de la variable de glissement. Le deuxième objectif est de combiner les nouvelles lois de commande avec un mécanisme de gain adaptatif. L’utilisation d’un gain adaptatif permet de simplifier le réglage du gain, de réduire le temps de convergence et d’améliorer la précision. Enfin, l’applicabilité de ces approches est démontrée à travers leur application au banc d’essais électropneumatique de l’IRCCyN, et à un système volant à trois degrés de libertéThis work deals with the development of control laws for nonlinear uncertain systems based onsliding mode theory. The standard sliding mode control approaches are state feedback ones, in which the sliding variable and its time derivatives are required. This first objective of this thesis is to propose high order sliding mode control laws with a reduced use of sliding variable time derivatives. The contributions are made for the second and third order sliding mode control. The second objective is to combine the proposed control laws with a gain adaptation mechanism. The use of adaptive gain law allows to simplify the tuning process, to reduce the convergence time and to improve the accuracy. Finally, the applicability of the proposed approaches is shown on IRCCyN pneumatic benchmark. Applications are also made on 3DOF flying system
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Guo, Jianping. "Sliding Mode Based Load Frequency Control for an Interconnected Power System with Nonlinearities." Cleveland State University / OhioLINK, 2015. http://rave.ohiolink.edu/etdc/view?acc_num=csu1435857616.
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Sanchez, Edinzo J. Iglesias. "Using fuzzy logic to enhance control performance of sliding mode control and dynamic matrix control." [Tampa, Fla] : University of South Florida, 2006. http://purl.fcla.edu/usf/dc/et/SFE0001497.
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Herrmann, Guido. "Discretization of non-linear controls with application to robust, sliding-mode-based control systems." Thesis, University of Leicester, 2000. http://hdl.handle.net/2381/30178.
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This thesis deals with sampled-data implementations of continuous-time, non-linear control systems. The basis for the analysis is a static, continuous-time feedback law for non-linear, affine systems with bounded input gain. The sampled-data implementation is obtained from the discretization of the control via a sample-and-hold-process. With the incorporation of the aspect of robustness, a theoretical framework is created which supersedes previous work concentrating on stability. Bounding constraints for the closed-loop differential system allow uncertainty and disturbances to be considered. Other assumptions for the continuous-time control are Lipschitz continuity, exponential decay outside a compact set and existence of a Lyapunov function. The important parameter for the discretization analysis is the sampling time; fast sampling implies robust stability. The controller sampling residual, the difference between the discretized and the original control, is of key interest within a Lyapunov-type stability analysis; suitable norms, such as the Euler norm, are chosen to find upper bounds for the sampling residual. The generalization of a result from linear to non-linear sampled-data control permits the application of the Lp-norm. The theoretical framework is also suitable for dynamic control systems and the investigation of computational delays. The analysis approaches are demonstrated for two different robust control. strategies .based on sliding-mode approaches. A state-feedback sliding-mode-based control extends ideas for smoothing discontinuous sliding-mode control components by introducing a cone-shaped sliding-mode layer. A non-smooth Lyapunov function is used to prove stability of the discretized control. An observer-based tracking control improves a previous control scheme by considering a class of non-minimum phase and relative-degree-zero plants. Simulation and numerical fast-sampling analysis results are provided for all developed discretization and sliding-mode-based control techniques in application to non-trivial examples. The simulation of a highly non-linear, large-scale chemical plant for benzene production with non-minimum phase and relative-degree-zero characteristics proves the effectiveness of sliding-mode output control.
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Fu, Lina. "Model-Based Extremum Seeking Control for a Class of Nonlinear Systems." The Ohio State University, 2010. http://rave.ohiolink.edu/etdc/view?acc_num=osu1290570109.
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Labbe, Benoit. "A contribution to synchronization of the sliding-mode control-based integrated step-down DC/DC converter." Thesis, Lyon, INSA, 2013. http://www.theses.fr/2013ISAL0120.
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Les téléphones et tablettes de dernière génération embarquent une puissance de calcul numérique très importante nécessitant une puissance électrique d’alimentation toute aussi significative. Afin de réduire la consommation énergétique des composants numériques complexes des terminaux mobiles, des techniques de modulation dynamique de la tension d’alimentation et de la fréquence de fonctionnement du cœur de calcul numérique sont utilisées. Le convertisseur DC/DC qui assure l’alimentation du cœur numérique doit donc faire face à de forts transitoires de charge, de tension de référence et de tension de source. Le contrôle en mode glissant d’un convertisseur DC/DC permet un bon compromis entre les performances transitoires du convertisseur, la réalisation via des composants analogiques et la puissance dissipée par le contrôleur. C’est pourquoi ce type de contrôle apparait être adapté au contrôle de convertisseurs DC/DC alimentant des cœurs numériques. Cette thèse a pour objet l’étude des alimentations sur carte électronique où le contrôleur et l’étage de puissance sont intégrés sur puce tandis que les composants de puissance passifs sont montés sur le circuit imprimé. Le contrôle en mode glissant à fréquence de découpage fixe d’un convertisseur DC/DC a été démontré avec des résultats significatifs. Cependant les performances transitoires d’un tel convertisseur sont amoindries en raison des délais introduits par une fréquence de découpage fixe. Une nouvelle structure de régulation de fréquence de découpage d’un convertisseur DC/DC contrôlé en mode glissant est proposée dans cette thèse. Cette structure régule la fréquence de découpage moyenne du convertisseur tout en maintenant la réponse transitoire du convertisseur asynchrone par rapport à l’horloge de référence. Une analyse de stabilité qui prend en compte les spécificités d’un tel système est aussi proposée. Le convertisseur a été conçu sur un procédé CMOS 130nm de STMicroelectronics. La fréquence de découpage est maintenue volontairement faible pour conserver un rendement élevé avec des composants passifs externes. Le prototype présente un rendement supérieur à 80% entre 2.4mW et 960mW de puissance de sortieMobile applications necessitate nowadays huge digital-resources. Power management of a digital System-On-Chip (SOC) is based on dynamic voltage scaling. DC/DC converters used to supply the digital SoCs are facing stringent constraints with respect to load-transients, line-transients and reference tracking. Hysteretic control is known as the most convenient control scheme with a fair trade-off between transient performances, analog implementation and power consumption, particularly for one-phase architecture. The thesis focuses on-board DC/DC with a significant constraint on footprint (i.e. on components count and values). Fixed switching-frequency hysteretic control has been experimented with significant results. Transient performances are reduced due to latency introduced in the switching frequency control. The present study focuses on the improvement of the concept as well as its implementation and the analysis of stability. A new analog implementation of the sliding-mode control is presented with switching-frequency control using a particular analog phase-locked-loop but preserve transient performances. The DC/DC converter is implemented in CMOS 130nm by STMicroelectronics. The switching frequency range has been voluntarily limited and excludes the possible integration of passive components for the sake of silicon access. A hybrid demonstrator is presented with efficiency higher than 80\% between 2.4 mW and 960 mW output power
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Capito, Ruiz Linda J. "Optical Flow-based Artificial Potential Field Generation for Gradient Tracking Sliding Mode Control for Autonomous Vehicle Navigation." The Ohio State University, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=osu1555599397128602.
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Lombardi, Paolo. "Generic wind estimation and compensation based on residual generators and higher-order sliding mode schemes." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2016. http://amslaurea.unibo.it/10662/.
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This master thesis proposes a solution to the approach problem in case of unknown severe microburst wind shear for a fixed-wing aircraft, accounting for both longitudinal and lateral dynamics. The adaptive controller design for wind rejection is also addressed, exploiting the wind estimation provided by suitable estimators. It is able to successfully complete the final approach phase even in presence of wind shear, and at the same time aerodynamic envelope protection is retained. The adaptive controller for wind compensation has been designed by a backstepping approach and feedback linearization for time-varying systems. The wind shear components have been estimated by higher-order sliding mode schemes. At the end of this work the results are provided, an autonomous final approach in presence of microburst is discussed, performances are analyzed, and estimation of the microburst characteristics from telemetry data is examined.
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Firdaus, Ahmad Riyad. "Design of sliding mode-based nonlinear control systems with nonlinear full-order state observers for underactuated coupled systems." Thesis, University of Sheffield, 2018. http://etheses.whiterose.ac.uk/20897/.
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Mohorcic, John Francis. "Pressure-based Impedance Control of a Pneumatic Actuator." Cleveland State University / OhioLINK, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=csu1591188440286793.
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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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Wang, Ci-Yi, and 王藝錡. "DSP-Based Sliding-Mode Control of PMSM." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/52256429881959330535.
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碩士南台科技大學
電機工程系
95
The thesis aims at designing the drives for rotary and linear permanent magnet synchronous motors. Responsiveness, smoothness, and without steady-state error of dynamic response are general requirements of any controlled system. But, there exist uncertainties of parameter variation and external disturbances in the system to bother designers. The sliding-mode control, which provides the merits to overcome deficiency, is first considered in the drive. However, the knowledge of upper bound of the uncertainty has to be assumed such that many control algorithms are proposed to estimate it. In the thesis, instead of estimating this quantity, a fuzzy deadzone compensator is introduced to get rid of the steady-state error due to smaller value of uncertainty bound used in the sliding-mode control drive system. The designed DSP-based drive includes space vector pulse-width modulation, the combination of sliding-mode control and deadzone compensation, and trajectory planning to obtain precisely positioning. Digital signal processor (DSP) TMS320LF2407 provides built-in analog-to-digital converters (ADCs) to sense currents and quadrature encoder pulse (QEP) to convert the encoder signals to close related loops. Finally, the effectiveness of the designed drive is verified by the step and sinusoidal responses as well as the disturbance rejection.
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Lin, Sou-Chien, and 林守謙. "PC-based Sliding Mode Control of Air Motor." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/50936061300507074766.
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碩士臺灣大學
機械工程學研究所
95
This thesis studies the PC-based position control of air motor. This control system is carried out under Simulink with Real-Time Window Target. This structure enables the execution to switch rapidly between Simulation and Real-Time control. The air drived system contain uncertainties which cause difficulty on sysem modeling and controller design. This thesis identifies by gradient algorithm the pneutronic system as a second order system with dynamic friction. The sliding mode control is used to eliminate the uncertainties. Its performance is compared with propotional control to verify the effectivenss of sliding mode control.
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Lee, Wen-San, and 李文山. "Sliding Mode Based Repetitive Learning Control For Robots." Thesis, 1995. http://ndltd.ncl.edu.tw/handle/54859847956022169938.
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Huang, Pin-Hsuan, and 黃品瑄. "Total Sliding Mode Control Based Intelligent Motion Control System Design." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/93022415008618415236.
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碩士中原大學
電機工程研究所
97
The purpose of this thesis is to develop the intelligent motion control system based on the fuzzy neural network (FNN), and to integrate it with adaptive control, total sliding mode control (TSMC) and robust control technologies for motion control systems. According to Lyapunov synthesis approach, the adaptive tuning laws of FNN can be derived and the system stability can be guaranteed. This thesis introduces the concepts of sliding mode control (SMC), TSMC and FNN first. Then, the design procedures of SMC, TSMC and adaptive TSMC (ATSMC) are developed for the nonlinear motion control systems; that include a ship motion control system and a wing rock motion control system. However, the undesired control chattering also existed in the above control methods. To resolve the problem, this thesis proposes the TSMC-based intelligent motion control system for the same motion control systems. In this design, the adaptive FNN controller acts as the main tracking controller, which is designed via an FNN to mimic an ideal TSMC law and the adaptive robust controller is developed to attenuate the approximation error between the FNN and the ideal TSMC. Finally, comparisons of a SMC, a TSMC, an ATSMC and the proposed TSMC-based intelligent control method for motion control systems are made. The simulation results demonstrate that the proposed FNN and TSMC-based intelligent motion control scheme with PI-type adaptive laws can achieve satisfactory control performance more accurately than other control methods without control charactering.
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Kumar, Shashi Ranjan. "Sliding Mode Control Based Guidance Strategies with Terminal Constraints." Thesis, 2015. http://etd.iisc.ernet.in/2005/3876.
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In the guidance literature, minimizing miss distance along with optimizing the energy usage had been an objective for several decades. In current day applications, additional terminal performance such as impact angle and impact time are of paramount importance. These terminal constraints increase warhead effectiveness and survivability of the interceptor. This thesis contributes to the design of guidance laws addressing terminal constraints such as impact angle, impact time, and both impact time as well as impact angle, in addition to interception of targets.
In the first part of the thesis, the guidance laws which ensure the alignment of the interceptor at a desired impact angle within a finite time is proposed using different variants of sliding mode control(SMC).The impact angle is first redefined in terms of line-of-sight angle and then the impact angle problem is converted to a simpler problem of controlling line-of-sight angle and their rates. The sliding mode capturability and interpretation of the guidance laws are presented. In order to cater to very large heading angle errors, which give rise to negative closing speed initially, modifications to the guidance laws are also suggested. The modifications to the guidance laws for avoiding singularities, which may be encountered during implementation, due to the inherent nature of terminal SMC, are suggested. However, the guidance laws, which alleviates the possibility of such singularities completely, are also designed by using non singular terminal SMC. The two loop guidance and control, for a skid-to-turn cruciform interceptor in the pitch plane, is also proposed with an autopilot designed using the concept of dynamic SMC. The guidance laws addressing impact angle constraint for three dimensional scenarios are also presented. Unlike the usual approach of decoupling the three dimensional engagement in to two mutually orthogonal planar engagements, the guidance laws are derived using coupled engagement dynamics. These guidance laws are designed using conventional and non singular terminal SMC and provide asymptotic and finite time alignment of the intercept or to the desired impact angles, respectively.
Next, the SMC based guidance laws which ensure the interception of targets at pre-specified impact times is proposed in this thesis. The guidance law is first designed for stationary targets and then extended to constant velocity targets using the notion of predicted interception point. A switching surface is designed using the concepts of collision course and time-to-go with non-linear engagement dynamics and its role in achieving the objectives is also discussed. In order to account for large heading angle errors and even for negative initial closing speeds, different methods of estimation of time-to-go, resulting in two different guidance laws, are used. Unlike the existing guidance laws, the proposed guidance laws achieve an impact time even less than its initially estimated value. The flexibility in selecting a desired impact time is also exploited using the maximum available acceleration information. A cooperative salvo attack strategy, based on the proposed impact time guidance law, with a desired impact time chosen in real time using a centralized coordination algorithm, is proposed for stationary targets. The coordination manager determines a common impact time based on time-to-goof the interceptors, by minimizing the total switching surface deviations which in turn reduces the control effort.
The thesis also proposes a SMC based guidance strategy which addresses impact angle and impact time constraints simultaneously. This guidance scheme is based on switching between impact time and impact angle guidance laws based on certain conditions. Unlike existing impact time guidance laws, the proposed guidance strategy takes into account the curvature of the trajectory due to the impact angle requirement. The interceptor first corrects its course to nullify the impact time error and then aims to achieve interception with desired impact angle. In order to reduce the transitions between the two guidance laws, a novel hysteresis loop is introduced in the switching conditions. Initially stationary targets are considered, and later the same guidance scheme is extended to constant velocity targets using the notion of predicted interception point.
Theclaimsofalltheguidancelawsarevalidatedwithextensivesimulationsandtheir performances are compared with existing guidance laws. Although all the guidance laws derived in the thesis are based on the assumption of constant speed interceptors, their performances are evaluated with a time-varying speed interceptor model, subjected to aerodynamic conditions, to validate their efficacy. The implementation of impact time guidance on time-varying speed interceptors is a formidable challenge in the guidance literature. Such implementations have also been presented in the thesis after introducing the notion of average speed and shown to yield satisfactory performance.
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Fu, Chien-Hsiang, and 傅建祥. "Sensorless Sliding-Mode Control of DTC-Based Induction Motors." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/24863790403562296133.
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碩士清雲科技大學
電機工程研究所
96
This paper combines the sliding-mode control (SMC) and space vector modulation (SVM) strategy for a DTC-based speed sensorless induction motor. The SVM, which provides constant inverter switching frequency, improves the torque and speed waveforms by ripple reduction. The SMC contributes to robustness of the SVM-based DTC. This combination will provide fast transient response and lower torque and speed ripples of the drive. In the design of sensorless IM drive, the measured stator voltage and current are used for speed estimation. To verify the effectiveness of the proposed method, the Matlab/Simulink software is used to prove the feasibility of this system. Then, the control algorithm is developed on a digital signal processor (TMS320LF2407A). Finally, the experimental system is constructed by integrating the DSP chip and the relative hardware circuit. Experimental results show that good transient and steady-state performance is obtained by the proposed method.
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Kung, Tien-Tsai, and 龔天財. "Observer-based adaptive sliding mode control for pneumatic servo system." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/94648046836656024606.
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碩士國立高雄應用科技大學
機械與精密工程研究所
99
This study uses an extended state observer and adaptive sliding mode control theory to deal with the nonlinear input dead-zone, unkonw system model, distrubance and the derivative of output variable can not be measured for pneumatic servo system. An extended state observer is used to estimate system state variables and uknown system model include external disturbance, and an adaptive law is constructed to estimate dead-zone parameters, which will be used for compensating the nonlinear input dead-zond. Furture more, the proposed control scheme in this study is applied to positioning control experimental and the positioning accuracy could be obtained as under 0.05um, in addition to forward positioning control of pneumatic servo system, their is also good results for backward positioning control, and this control scheme has better robustness and accuracy compared with PID controller.
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Chang, Shih-chung, and 張世忠. "Sliding Mode-Based Direct Torque Control for an Induction Motor." Thesis, 2000. http://ndltd.ncl.edu.tw/handle/65604039106485759640.
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碩士國立交通大學
電機與控制工程系
88
This thesis deals with the problem of using sliding mode technique to control and observethe states of an induction motor.We hope to directly regulate the rotor torque and the square of the rotor flux magnitude to the desired value. Nonlinear sliding surfaces are chosen and stator voltages are derived such that the state trajectories have a sliding mode behavior for driving system to achieve the control objective. Since in practice the rotor fluxes are hard to measure, a sliding mode observer is used to estimate the rotor fluxes.Moreover, we use a MARC speed controller to control the rotor speed. Computer simulations in this thesis are performed using C language.Hardware implementation is based on a PC(Personal Computer) and relative circuits. Finally, experimental results are presented to show the superiority of the proposed theory and the accuracy of the software and hardware design for the experimental system.
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Chang, Jeang-Lin, and 張浚林. "Sliding-Mode Control Design Based on Conventional Pole-Assignment Method." Thesis, 1999. http://ndltd.ncl.edu.tw/handle/86063153472637936166.
Full textAbstract:
博士國立交通大學
電機與控制工程系
87
The problem for multivariable linear systems with matched disturbance via sliding mode control design is investigated in this dissertation. First, based on the pole-assignment method, design techniques for choosing the sliding vector are proposed. Note that the pole-assignment method is applied to the overall closed-loop system but the system in the sliding mode. This aspect let the sliding vector design be simple and straightforward. Moreover, there exist some important properties being used in the controller design. Once the suitable sliding vector is selected, two kinds of sliding control algorithms are presented, which are conventional sliding control approach and the integral sliding mode control. The robustness to matched disturbances are verified by numeric examples with simulation results.
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Hsu, Huai Te, and 許懷德. "Modified Sliding-Mode Control Applied to FEM-based Single-link Arm." Thesis, 1997. http://ndltd.ncl.edu.tw/handle/86189673945151459721.
Full textAbstract:
碩士國立交通大學
控制工程系
85
This paper introduces the modified sliding-mode controller design of a FEM-based single-link flexible arm with uncertain tip payload. The modeling based on the FEM is suitable for diverse flexible structures. Besides, the FEM is more accurate and much easier than the AMM. In the work of Yeung and [3,4], a robust sliding-mode controller was successfully developed to control an AMM-based single flexible arm model. Here, following up their work, it will be shown that the FEM-based model of a single flexible arm and then propose a modified robust sliding- mode controller. This controller retains the robustness for the uncertain payload and the ability in eliminating the matching type external disturbance. From the simulation results, it can be concluded that the modified sliding-mode controller for regulation and ramp-tracking problems is succeeded by employed into the plant.
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Yang, Yu-sheng, and 楊羽昇. "ROBUST OBSERVER-BASED INCREMENTAL SLIDING-MODE CONTROL OF THE UNDERACTUATED SYSTEMS." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/91902723001101405239.
Full textAbstract:
碩士大同大學
電機工程學系(所)
100
A class of underactuated systems that is a very common system in various kinds of engineering application is considered in this thesis. The observer is utilized to estimate the system states that are unavailable for measurement. The first-level sliding surface is defined at first, and then one of the left states is employed to construct the next sliding surfaces until the last sliding surface is constructed. The fuzzy logic system is applied to approximate the unknown nonlinear functions. Moreover, some adaptive laws are introduced to estimate the upper bounds of unknown disturbances. The stability of the underactuated system is analyzed based on Lyapunov stability theorem. The proposed controller ensures the robust stability of the underactuated system. Finally, simulation example is illustrated to demonstrate the effectiveness of this proposed control approach.
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Li, Jun-Ze, and 李浚澤. "The study of proportional-integral observer-based discrete sliding mode control." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/78997243001974169143.
Full textAbstract:
碩士國立高雄應用科技大學
機械與精密工程研究所
99
In this study, a new reaching law which can improve the defect of exponential reaching law of discrete sliding mode control is designed. To use this new reaching law, it can reduce or eliminate the chattering defect occurred in the controled system as using the exponential reaching law and improve the system stability. Considering the system having unknown system state, parameter uncertainty, and external disturbance, which may let system performance be unstable, we combine the discrete sliding mode control with proportional integral observer, and use the proportional integral observer to estimate unknown system state, parameter uncertainty, and external disturbance. From the stability analysis, the proposed control method can ensure the system stability in the presence of unknown system state, parameter uncertainty, and external disturbance. Through computer simulation, it is shown that the new reaching law is better than exponential reaching law on the system stability improvement and system chattering reduction.
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Lee, Chen-Der, and 李成德. "Fuzzy Sliding Mode Control for Building Structure Based on Genetic Algorithms." Thesis, 2000. http://ndltd.ncl.edu.tw/handle/28908069280797059910.
Full textAbstract:
碩士中原大學
土木工程學系
88
Based on the genetic algorithms (GAs), a fuzzy sliding mode control (FSMC) method for the building structure is designed in this research. When a fuzzy logic control (FLC) method is used for structural system, it is hard to get proper control rules directly, and to guarantee the stability and robustness of the fuzzy control system. Hence, the fuzzy controller combined with sliding mode control (SMC) is proposed, but there is still no criterion to reach an optimal design of the FSMC for the building structure control system. In this paper, therefore, we consider the design of a fuzzy sliding mode controller for the building structure control system as an optimization problem and apply optimal searching algorithms, genetic algorithms, to find optimal rules and membership functions of the FSMC. The approach we proposed can determine an optimal structure and inference rules of fuzzy sliding mode controller at the same time. The study found that the building structure under the proposed method control can sustain in safety and stability when subjected to external disturbances.
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Tai, Yu-Lung, and 戴宇龍. "The DSP-based fuzzy sliding mode control in a seesaw system." Thesis, 2004. http://ndltd.ncl.edu.tw/handle/39144998560384816610.
Full textAbstract:
碩士國立中央大學
電機工程研究所
92
In this paper, an artificial fuzzy sliding mode control is implemented on the Texas Instruments TMS320LF2407A digital signal processor (DSP) for control the seesaw system. The feature of the fuzzy sliding mode control is that it only needs a single fuzzy input. The advantage of the approach is that the total number of rules has been greatly reduced comparing with the conventional fuzzy control. It was suitable for high order and nonlinear system of control system. Due to the fact that DSP owns the advantage of low-cost and high calculation performance, it has been widely applied in industry and our life. So we used the DSP to control the seesaw system to achieve the real time control goal. For practical application, an oversampling method is employed. This technique can increase the resolution of the original ADC and can enhance the accuracy of a control system by reducing the quantization error while improving the signal-noise ratio (SNR) .
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Shang-shyang, Liaw, and 廖上翔. "Induction Motors Control Based on Adaptive Fuzzy and Sliding Mode Methods." Thesis, 1998. http://ndltd.ncl.edu.tw/handle/32795541177228333563.
Full textAbstract:
碩士中原大學
電機工程研究所
86
The challenge of controlling an induction motor is due to parameters and states of the induction motor being difficult to measure. To add to this problem the parametersusually change under working environment or the rising of the temperature. To solvethese problems, the fuzzy, adaptive and sliding-mode control techniques are integratedto construct the speed and torque controllers. The controller primarily is composed ofthree sub-controllers: speed, torque and current inner-loop controllers. These sub-controllers are designed separately, and then cascaded for implement. The advantages of the proposed controller include: (1) the loading torque can be unknown or time-varying; (2) rotor flux observers are unnecessary; (3) rotor resistance can be unknown.Based on an existed servo-drive broad, the theoretical results are examined by a PC-based controller. The experiment results demonstrate a satisfied performance. Furthermore, an adaptive-fuzzy controller is proposed such that the current loop iswith H oo-performance, i.e., the L2-gain from model uncertainty to tracking error canbe less than a prescribed level.
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Wang, Min-Chang, and 王敏昌. "Fuzzy Sliding Mode Control of the DSP-Based Magnetic Levitation System." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/7gxf2v.
Full textAbstract:
碩士崑山科技大學
電機工程研究所
96
In this thesis, the current driver is based on pulse width modulation. The steel ball position sensor is a pair of infrared photodiodes. The digital controller is the F2812 eZdsp (DSK). The F2812 eZdsp (DSK) controls the coil current and the ball position simultaneously. The popularity of the sliding mode control (SMC) method has been increasing over the last decade because of its applicability to a class of nonlinear systems in the global sense and its ability to consider robustness issues to modeling uncertainties and disturbances. The fuzzy sliding mode control (FSMC) integrates the fuzzy logic control (FLC) and the sliding mode control (SMC). It provides a simple way to achieve asymptotic stability of the system. The FSMC also provides a minimal fuzzy set of the FLC and a systematic design procedure. The control algorithms are realized by the C-language. The platform is the CCS IDE (Code Composer Studio integrated development environment). It includes the text editor, C-compiler, program loader and debugger.
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Wang, Yan Sheng, and 王衍盛. "Sliding Mode Control for Active Magnetic Bearing System based on MCU." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/30850790310208843585.
Full textAbstract:
碩士國立雲林科技大學
電機工程系
103
In this thesis, we establish an Active Magnetic Bearing(AMB) system to simulate the motor driving rotor vibration at work. The electromagnetic force is controlled by the excitation current to maintain rotor suspension in the non-contact air. Hence, it has some advantages such as noiseless, no need for lubricants,…, etc. AMB system can realize the height control and reduce rotor’s vibration. The system dynamical equation is analyzed to increase the accuracy of control. The Integral Sliding-Mode Control(ISMC), Complementary Sliding-Mode Control(CSMC), and Adaptive Complementary Sliding-Mode Control(ACSMC) three controllers are proposed. The adaptive law of ACSMC is designed to estimate the bound of the lumped uncertainty and the stability of adaptive algorithm is guaranteed by Lyapunov stability theory. The microprocessor dsPIC30F4011 is used in controllers realization which is cheaper than the DSP controller board. The proposed controller is validated for eliminating steady state error and estimating boundary of uncertainty in ACSMC, with the motor driver circuit, electromagnetic control circuit and infrared ray distance sensor.
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Li, Wei-Chen, and 黎韋辰. "Observer-based terminal sliding mode control of anti-lock braking systems." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/a8fs78.
Full textAbstract:
碩士國立高雄科技大學
機械工程系
107
A procedure is the most important thing about ABS control to reduce the braking distance and prevent the vehicle from slipping, that is, to keep the vehicle with the maximum friction between the tire and the ground. The apparent friction is related to the positive force and the friction coefficient. What is the friction coefficient under control? According to many documents, the friction coefficient of the vehicle presents a nonlinear relationship with the slip, referred to as the μ-λ curve. This curve also shows the best control target, and the λ is controlled between 0.14 and 0.2. This paper will explore the importance of ABS for vehicles and design a terminal sliding model controller (TSMC) combined with an extended observer to estimate the state variables that cannot be measured and unknown external disturbances. Through computer simulation, it can be known that SMC has a considerable chattering effect on the braking system. TSMC not only retains the advantages of SMC's fast and robustness, but also greatly reduces the chattering phenomenon. It is known that the TSMC has a better control effect and the reaction speed is faster than one of the PID controller , and can effectively reduce the braking distance.
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Lin, Jie-Fong, and 林杰鋒. "Sliding-mode-based Precise-position Control Strategy for Linear Motor System." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/7mz8m5.
Full textAbstract:
碩士國立虎尾科技大學
自動化工程研究所
100
The purpose of this thesis is to develop a series of sliding mode control system which includes the traditional sliding mode control (SMC), the integral sliding mode control (ISMC) and the terminal sliding mode control (TSMC), and for the amount of uncertainty the development of adaptive and exact amount of estimate uncertainty to the control system, and using the digital signal processor-based for control core, by virtue of a processor’s powerful internal computing capability and multi-signal transmission interface for transmission to the linear motor positioning control. And can be verified for using the Lyapunov stability theory on linear motor with system uncertainty, these sliding mode control system still has progressive stability characteristics. To further enhance the system control performance, this thesis also design the exact estimation of uncertain amount, this control system design an exact uncertainty estimation to estimate to the uncertainties of the boundary value for overcome the lack of traditional control systems. Finally, the effectiveness and feasibility of the proposed control law and estimation uncertainty are validity by both numerical simulation and experimental results.
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Yang, Shih-Chyuan, and 楊世全. "CAD-Based Robot Arm Deburring Using Hybrid Sliding Mode Impedance Control." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/14374173070192410963.
Full textAbstract:
碩士國立臺灣大學
機械工程學研究所
104
The contact force between the deburring tool and workpiece is the most important in the field of robotic deburring. This contact force will affect the control precise and surface roughness in the deburring processes. This thesis proposes a chattering-free fuzzy hybrid sliding mode impedance control strategy for precision deburring using 6 DOFs robot arm with grinder. The force model of the deburring is proposed to compute the contact force between the grinder and the burr. The force model can be separated into three parts: chip formation force, friction force and plowing force. The deduction of the chip formation force and friction force are based on Werner’s model and Malkin’s grinding theory, and the deduction of the ploughing force is based on single-grit tests. This model uses the burr’s height and cross-section area to calculate contact force, and those information are detected by camera. The desired trajectory is generated by CAD/CAM software. We also consider the orientation of the robot arm on free-curved surface in order to avoid singularity.
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Wang, Dong-Hai, and 王東海. "FPGA-Based Fuzzy Sliding-Mode Control for Linear Induction Motor Drive." Thesis, 2005. http://ndltd.ncl.edu.tw/handle/70118303630086190737.
Full textAbstract:
碩士國立東華大學
電機工程學系
93
An FPGA-based fuzzy sliding-mode controller, which combines both the merits of fuzzy control and sliding-mode control, is proposed in this thesis to control the mover position of a linear induction motor (LIM) drive to compensate the uncertainties including the friction force. First, the dynamic model of an indirect field-oriented LIM drive is derived. Then, FPGA-based LIM drive system, which consists of FPGA development board, three D/A converters, a ramp comparison current-controlled PWM, and a dead-time compensation circuit is implemented. Next, an integral-proportional controller and a fuzzy controller are designed. Moreover, a sliding-mode controller with an integral-operation switching surface is designed. The uncertainties are lumped in the sliding-mode controller and the upper bound of the lumped uncertainty is necessary in the design of the sliding-mode controller. However, the upper bound of the lumped uncertainty is difficult to obtain in advance in practical applications. Therefore, a fuzzy sliding-mode controller is investigated, in which a simple fuzzy inference mechanism is utilized to estimate the upper bound of lumped uncertainty. With the fuzzy sliding-mode controller, the mover of the LIM drive possesses the advantages of good transient control performance and robustness to uncertainties for the tracking of periodic reference trajectories. An FPGA chip is adopted to implement the indirect field-oriented mechanism and the developed control algorithms. Finally, the effectiveness of the proposed control schemes is verified by some experimental results.
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Wu, Wen-Chieh, and 吳文傑. "Sliding Mode Based Learning Control for Near-Field Optical Disk Drives." Thesis, 2000. http://ndltd.ncl.edu.tw/handle/39114884768175099398.
Full textAbstract:
碩士國立交通大學
機械工程系
88
The flying head design in near-field optical disk drives applies the near-field optics theory to overcome the limit of conventional optical disk techniques, thereby substantially increasing data storage capacity. To that end, enhancing control performance to improve the tracking speed and accuracy is required. This study aims to develop a sliding mode based repetitive learning controller, which incorporates characteristics of sliding mode control into repetitive learning control. The reason for using sliding mode control is attributed to robust properties dealing with model uncertainty and disturbances. The learning algorithm utilizes shape functions to approximate influence functions in integral transforms and estimate the control input to perform seeking movement. It learns at each sampling instant the desired control input without prior knowledge of system dynamics. To validate the proposed method, this work conducts track-seeking experiments, in which a resistance device and an optical grating respectively read position feedback signals of the pickup head.
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Wu, Bo-Tai, and 吳柏泰. "The Control and Implementation of the Quadrotor Based on Discrete-time Sliding Mode Control." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/8zjmq2.
Full textAbstract:
碩士國立臺北科技大學
自動化科技研究所
106
In this thesis, the problems of implementation and the control for the quadrotor is investigated based on the discrete-time sliding mode control approach. Firstly, the embedded system with gyroscope and the global positioning system module are utilized to establish the hardware of the quadrotor. In addition, the Kalman filter is adopted to eliminate the measurement errors of the accelerometer, the gyroscope and the magnetometer. Moreover, the desired position can be obtained by global positioning system. Based on these information, the discrete time sliding mode controller is adopted to track the desired position. The simulations and the experiments shows the validity and the feasibility of the developed quadrotor.
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Su, Jin-Ji, and 蘇進吉. "The Control and Implemtation of the Quadrotor Based on Second Order Sliding Mode Control." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/6943hv.
Full textAbstract:
碩士國立臺北科技大學
機械工程系機電整合碩士班
106
In this thesis, the problems of implementation and the control for the quadrotor is investigated. Based on the STM32F427 embedded system, gyroscope, accelerometer, barometer, the hardware of the quadrotor is established. For controller design, the second order sliding mode controller is adopted to stabilize the quadrotor. In addition, the Kalman filter is utilized to correct the measurement error and eliminate the noise. Furthermore, the GPS module and the eclipse are adopted; therefore, the developed quadrotor can reach to the desired position accurately. Lastly, the simulation and the real experiment results illustrated the feasibility and effectiveness of the developed quadrotor and the adopted sliding mode control approach.
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Hu, Chia-Chen, and 胡家禎. "OUTPUT TRACKING CONTROL FOR UNCERTAIN UNDERACTUATED SYSTEMS BASED ON FUZZY SLIDING MODE CONTROL APPROACH." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/41843656999563933934.
Full textAbstract:
碩士大同大學
電機工程學系(所)
98
This thesis proposes the fuzzy sliding mode control approach to deal with the output tracking of the uncertain underactuated system. It is well-known that the presence of uncertainties which include modeling error, unmodeled dynamics, external disturbances and parameter variations is a very common problem in various kinds of engineering systems. First, the whole underactuated system is divided into several different subsystems. The first-level sliding surfaces are defined for each subsystem. Hence, we further construct a second-level surface from these first-level sliding surfaces. The fuzzy logic systems and some adaptive laws are used to approximate the unknown nonlinear functions and estimate the upper bounds of the unknown disturbances, respectively. Based on Lyapunov stability theorem and the theory of sliding mode control, the proposed control scheme not only ensures the robust stability of the uncertain underactuated system but also obtains good tracking performance. Finally, two simulation examples are given to show the validity of the proposed control method.
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Wu, Heng-Chang, and 吳恆昌. "A State-Based Sliding Mode Speed Control for a Two-Mass System." Thesis, 2004. http://ndltd.ncl.edu.tw/handle/35097798286233357081.
Full textAbstract:
碩士國立雲林科技大學
電機工程系碩士班
92
In this thesis, speed control for a two-mass system with state-based sliding mode controllers are discussed. When designing the controllers, the desired action of two-mass system is decided, firstly. Then the suitable sliding surface is designed for the action. When the reaching condition is satisfied, the desire action can be achieved. The advantage of a state-based sliding mode control is that we can control the action of each state. In general, some state variables are not measurable in practical systems. Therefore, sliding mode state observer also introduced to estimate the states of the systems. Inorder to test the sliding mode controller, an experimental apparatus is established. An DC motor is used to drive the system. Two types of DC motor drivers torque and voltage (torque and voltage) are used. Realization, We simulate it by Simulink of Matlab. The simulation software becomes a program code through RTW to download to a DSP board. The proposed method is validate by using the experiment results.
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Yu, Yuan-Sheng, and 游原昇. "Network-Based Fuzzy Decentralized Sliding-Mode Control for Car-Like Mobile Robots." Thesis, 2004. http://ndltd.ncl.edu.tw/handle/32423203009038205041.
Full textAbstract:
碩士大同大學
機械工程學系(所)
93
In this thesis, the trajectory tracking of a car-like mobile robot (CLMR) via network-based fuzzy decentralized sliding-mode control (NBFDSMC) was developed. First, the fuzzy decentralized sliding-mode control (FDSMC) was achieved for the nominal motor system; the controls of steering angle and linear velocity were obtained through a modification of the scaling factors based on the nominal control of motor systems. Due to the delay transmission of a signal through an internet, a revision of FDSMC (i.e., NBFDSMC) was accomplished according to the Quality-of-Service (QoS). Then the control input was transmitted to the CLMR by a wireless device. The proposed control could track a reference trajectory without the requirement of a mathematical model. Only the information of the upper bound of system knowledge (including the dynamics of CLMR and the delay feature of network) was required to select the suitable scaling factors such that an excellent performance was accomplished. The corresponding experiments were also carried out to evaluate the usefulness of the proposed control system.
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Wu, Quan-Wei, and 吳冠緯. "Integral Terminal Sliding-Mode Control for Three-Axis VCMs-based Positioning Stage." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/h4t2yx.
Full textAbstract:
碩士國立臺灣師範大學
電機工程學系
105
This dissertation aimed to design robust and precise control systems for the position control of three-axis voice coil motors (VCMs)-based positioning stage. First, the theoretical principle of the VCM is analyzed. Subsequently, the operation modes and the dynamic model of the stage are introduced. To design the model-based control systems, the system parameters identification is completed in advance. Afterward, a sliding-mode control (SMC) and a terminal SMC (TSMC) are developed to control the stage upon the system stability. Because the finite time convergence of the system state is ensured, the TSMC can improve the control performance of the SMC. Moreover, a fractional order integral TSMC (FITSMC) using fractional operator is developed to perform better transient response compared with the conventional SMC. Furthermore, to improve the robustness of the FITSMC system, an intelligent FITSMC (IFITSMC) with functional-link-based fuzzy neural network (FLFNN) uncertainty estimator is further proposed. The proposed FLFNN is able to improve the nonlinear approximation capability of the conventional fuzzy neural network (FNN) based on the adopted Chebyshev orthogonal polynomial functions. In this study, all the real-time control systems were implemented via the digital signal processor (DSP). Moreover, two reference trajectories and three test conditions were provided to evaluate the control performances of different control systems. The experimental results demonstrated the effectiveness and validity of the proposed control approaches.
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YE, CHIA-SUO, and 葉佳碩. "The DNLRX Friction Model Based Adaptive Fuzzy Neural Sliding-mode Tracking Control." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/r226kh.
Full textAbstract:
碩士國立虎尾科技大學
自動化工程系碩士班
106
In the field of precision mechanical control, how to overcome the influence of friction force is a key issue. In order to reduce the influence of friction force, this paper developed a precision adaptive fuzzy neural sliding-mode tracking control with friction compensation. In this study, the DNLRX inverse friction force model was used as feedforward controller, and four kinds of feedback controllers: the integral sliding-mode controller, sliding-mode controller, fuzzy sliding-mode controller and neural network sliding-mode controller were used to estimate and compensate the total uncertainty of friction and disturbances. In the experiments, the different controllers were compared with each other for no friction compensation and friction compensation to verify the effect of friction compensation. The experimental results show that the designed controller is effective and feasible, and through the comparison of the experimental results, it can be known that the performance of friction compensation using different feedback controllers is better than without friction compensation and it can reduce the tracking error effectively. Meanwhile, the neural network sliding-mode feedback controller plus DNLRX feed-forward control has the best control performance.