Relevant bibliographies by topics / Sliding mode control. Linear control systems. Nonlinear systems

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  1. Journal articles
  2. Dissertations / Theses
  3. Books
  4. Book chapters
  5. Conference papers

Academic literature on the topic 'Sliding mode control. Linear control systems. Nonlinear systems'

Author: Grafiati
Published: 4 June 2021
Last updated: 6 February 2022

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Journal articles on the topic "Sliding mode control. Linear control systems. Nonlinear systems"

1

Xue, Yan-Mei, Bo-Chao Zheng, and Dan Ye. "Quantized Feedback Control Design of Nonlinear Large-Scale Systems via Decentralized Adaptive Integral Sliding Mode Control." Mathematical Problems in Engineering 2015 (2015): 1–12. http://dx.doi.org/10.1155/2015/718924.

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A novel decentralized adaptive integral sliding mode control law is proposed for a class of nonlinear uncertain large-scale systems subject to quantization mismatch between quantizer sensitivity parameters. Firstly, by applying linear matrix inequality techniques, integral-type sliding surface functions are derived for ensuring the stability of the whole sliding mode dynamics and obtaining the prescribed boundedL2gain performance. Secondly, the decentralized adaptive sliding mode control law is developed to ensure the reachability of the sliding manifolds in the presence of quantization mismat
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Zhang, Jie, Ming Lyu, Hamid Reza Karimi, and Yuming Bo. "Fault Detection of Networked Control Systems Based on Sliding Mode Observer." Mathematical Problems in Engineering 2013 (2013): 1–9. http://dx.doi.org/10.1155/2013/506217.

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This paper is concerned with the network-based fault detection problem for a class of nonlinear discrete-time networked control systems with multiple communication delays and bounded disturbances. First, a sliding mode based nonlinear discrete observer is proposed. Then the sufficient conditions of sliding motion asymptotical stability are derived by means of the linear matrix inequality (LMI) approach on a designed surface. Then a discrete-time sliding-mode fault observer is designed that is capable of guaranteeing the discrete-time sliding-mode reaching condition of the specified sliding sur
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Du, Chunyan, and Guansheng Xing. "Control of Nonlinear Distributed Parameter Systems Based on Global Approximation." Journal of Applied Mathematics 2014 (2014): 1–6. http://dx.doi.org/10.1155/2014/845370.

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We extend an iterative approximation method to nonlinear, distributed parameter systems given by partial differential and functional equations. The nonlinear system is approached by a sequence of linear time-varying systems, which globally converges in the limit to the original nonlinear systems considered. This allows many linear control techniques to be applied to nonlinear systems. Here we design a sliding mode controller for a nonlinear wave equation to demonstrate the effectiveness of this method.
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Ding, Runze, and Lingfei Xiao. "Quadratic Integral Sliding Mode Control for Nonlinear Harmonic Gear Drive Systems with Mismatched Uncertainties." Mathematical Problems in Engineering 2018 (July 22, 2018): 1–18. http://dx.doi.org/10.1155/2018/2372305.

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For a class of nonlinear harmonic gear drive systems with mismatched uncertainties, a novel robust control method is presented on the basis of quadratic integral sliding mode surface, and the closed-loop system has satisfying performance and strong robustness against mismatched uncertainties and nonlinear disturbances. Considering time-varying nonlinear torques and parameters variations which are caused by nonlinear frictions and backlash, a nonlinear harmonic gear drive system mathematic model is established and the effect of nonlinear parts is compensated during control system design. It is
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Saad, Wajdi, Anis Sellami, and Germain Garcia. "Robust stabilization of one-sided Lipschitz nonlinear systems via adaptive sliding mode control." Journal of Vibration and Control 26, no. 7-8 (2019): 399–412. http://dx.doi.org/10.1177/1077546319889413.

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In this paper, the problem of adaptive sliding mode control for varied one-sided Lipschitz nonlinear systems with uncertainties is investigated. In contrast to existing sliding mode control design methods, the considered models, in the current study, are affected by nonlinear control inputs, one-sided Lipschitz nonlinearities, unknown disturbances and parameter uncertainties. At first, to design the sliding surface, a specific switching function is defined. The corresponding nonlinear equivalent control is extracted and the resulting sliding mode dynamic is given. Novel synthesis conditions of
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DO, PHU XUAN, and HUNG QUOC NGUYEN. "Robustness control for nonlinear systems based on homogeneous prescribed sliding mode control." Science & Technology Development Journal - Engineering and Technology 4, no. 2 (2021): 1019–35. http://dx.doi.org/10.32508/stdjet.v4i2.805.

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This paper presents a new homogeneous control using dual sliding mode control, and robustness control using linear matrix inequality (LMI) constraints. The controller is applied for the severe disturbance. A sliding surface function, which relates to an exponential function and itself t-norm, is applied to save the energy consumption of the control system. The constraints related LMI are proposed with the matrices and vectors of the systems following the chosen matrices in control the energy for control. Solution of the constraints is also presented with new approach to save the time of calcul
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Azelhak, Younes, Loubna Benaaouinate, Hicham Medromi, Youssef Errami, Tarik Bouragba, and Damien Voyer. "Exhaustive Comparison between Linear and Nonlinear Approaches for Grid-Side Control of Wind Energy Conversion Systems." Energies 14, no. 13 (2021): 4049. http://dx.doi.org/10.3390/en14134049.

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In this paper, we propose a comparative study of linear and nonlinear algorithms designed for grid-side control of the power flow in a wind energy conversion system. We performed several simulations and experiments with step and variable power scenarios for different values of the DC-link capacity with the DC storage element being the key element of the grid-side converter. The linear control was designed on the basis of the internal model control theory where an active damping was added to avoid steady state errors. Nonlinear controls were built using first and second order sliding mode contr
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Ren, Qi Feng, Cun Che Gao, and Shu Hui Bi. "Sliding Mode Control Based on Novel Nonlinear Sliding Surface for a Class of Time-Varying Delay Systems." Applied Mechanics and Materials 615 (August 2014): 375–81. http://dx.doi.org/10.4028/www.scientific.net/amm.615.375.

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The sliding mode control (SMC) design is discussed for a class of time-varying delay systems which is delay-range-dependent and rate-range-dependent. A novel time-varying nonlinear sliding surface is employed. The choice of nonlinear sliding surface is to change the state matrix of sliding mode system, which can combine the advantages of different conventional linear sliding surfaces. Thus the better transient qualities of system states, i.e., quicker response and smaller overshoot, can be achieved. The sufficient conditions ensuring the asymptotic stability of sliding mode are derived in term
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Zhao, Zhan Shan, Lian Kun Sun, and Jing Zhang. "Sliding Mode Control for a Class of Unmatched Uncertain Linear System." Advanced Materials Research 422 (December 2011): 846–49. http://dx.doi.org/10.4028/www.scientific.net/amr.422.846.

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A novel method of designing nonlinear robust sliding mode controller is presented to a class of nonlinear unmatched uncertain systems based on integral sliding mode and self-tuning law. Firstly, the unmatched is will not be amplified by the discontinuous control. Then the controller based on integral sliding mode is constructed to ensure the robustness. The stability of proposed procedure is proven by using the Lyapunov theory and guarantees robustness against uncertainties. The upper bounds of uncertainties are not required to be known in advance. Finally, simulation studies demonstrate that
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Zhu, Yue, and Sihong Zhu. "Adaptive Sliding Mode Control Based on Uncertainty and Disturbance Estimator." Mathematical Problems in Engineering 2014 (2014): 1–10. http://dx.doi.org/10.1155/2014/982101.

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This paper presents an original adaptive sliding mode control strategy for a class of nonlinear systems on the basis of uncertainty and disturbance estimator. The nonlinear systems can be with parametric uncertainties as well as unmatched uncertainties and external disturbances. The novel adaptive sliding mode control has several advantages over traditional sliding mode control method. Firstly, discontinuous sign function does not exist in the proposed adaptive sliding mode controller, and it is not replaced by saturation function or similar approximation functions as well. Therefore, chatteri
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Dissertations / Theses on the topic "Sliding mode control. Linear control systems. Nonlinear systems"

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Durmaz, Burak. "Sliding Mode Control Of Linearly Actuated Nonlinear Systems." Master's thesis, METU, 2009. http://etd.lib.metu.edu.tr/upload/12610666/index.pdf.

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This study covers the sliding mode control design for a class of nonlinear systems, where the control input affects the state of the system linearly as described by (d/dt)x=A(x)x+B(x)u+d(x). The main streamline of the study is the sliding surface design for the system. Since there is no systematic way of designing sliding surfaces for nonlinear systems, a moving sliding surface is designed such that its parameters are determined in an adaptive manner to cope with the nonlinearities of the system. This adaptive manner includes only the automatic adaptation of the sliding surface by determining
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Xu, Rong. "Optimal sliding mode control and stabilization of underactuated systems." Columbus, Ohio : Ohio State University, 2007. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=osu1185815577.

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Mohamed, Ramadan Haitham Saad. "Non-linear control and stabilization of VSC-HVDC transmission systems." Thesis, Paris 11, 2012. http://www.theses.fr/2012PA112046/document.

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L'intégration des liaisons à courant continu dans les systèmes électriques permet d’accroitre les possibilités de pilotage des réseaux, ce qui permet d’en améliorer la sûreté et de raccorder de nouveaux moyens de production. Pour cela la technologie VSC-HVDC est de plus en plus plébiscitée pour interconnecter des réseaux non synchrones, raccorder des parcs éoliens offshore, ou contrôler le flux d’énergie notamment sur des longues distances au travers de liaisons sous-marines (liaison NorNed). Les travaux de cette thèse portent sur la modélisation, la commande non-linéaire et la stabilisation d
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Coutinho, Camila Lobo. "Controle por modo deslizante para sistemas não-lineares com atraso." Universidade do Estado do Rio de Janeiro, 2012. http://www.bdtd.uerj.br/tde_busca/arquivo.php?codArquivo=4152.

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Nesta Dissertação são propostos dois esquemas de controle para sistemas não-lineares com atraso. No primeiro, o objetivo é controlar uma classe de sistemas incertos multivariáveis, de grau relativo unitário, com perturbações não-lineares descasadas dependentes do estado, e com atraso incerto e variante no tempo em relação ao estado. No segundo, deseja-se controlar uma classe de sistemas monovariáveis, com parâmetros conhecidos, grau relativo arbitrário, atraso arbitrário conhecido e constante na saída. Admitindo-se que o atraso na entrada pode ser deslocado para a saída, então, o segundo esque
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Rios-Bolivar, Miguel. "Adaptive backstepping and sliding mode control of uncertain nonlinear systems." Thesis, University of Sheffield, 1997. http://etheses.whiterose.ac.uk/5995/.

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The development of adaptive control design techniques for nonlinear systems with parametric uncertainty has been intensively studied in recent years. The recently developed adaptive backstepping technique has provided a systematic solution to the problem of designing static adaptive controllers for uncertain nonlinear systems transformable into the triangular Parametric Strict Feedback and Parametric Pure Feedback forms. The adaptive backstepping technique has been adopted in this thesis as the control design approach and a number of new algorithms have been developed for the design of dynamic
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Migchelbrink, Matthew. "Sliding mode control trajectory tracking implementation on underactuated dynamic systems." Thesis, Kansas State University, 2014. http://hdl.handle.net/2097/18245.

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Master of Science<br>Department of Mechanical Engineering<br>Warren N. White<br>The subject of linear control is a mature subject that has many proven powerful techniques. Recent research generally falls into the area of non-linear control. A subsection of non-linear control that has garnered a lot of research recently has been in underactuated dynamic systems. Many applications of the subject exist in robotics, aerospace, marine, constrained systems, walking systems, and non-holonomic systems. This thesis proposes a sliding mode control law for the tracking control of an underactuated dynami
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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
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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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Barbosa, William de Souza. "Controle de um sistema de eletroestimulação funcional." Universidade do Estado do Rio de Janeiro, 2014. http://www.bdtd.uerj.br/tde_busca/arquivo.php?codArquivo=8133.

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Esta Dissertação irá apresentar a utilização de técnicas de controle nãolinear, tais como o controle adaptativo e robusto, de modo a controlar um sistema de Eletroestimulação Funcional desenvolvido pelo laboratório de Engenharia Biomédica da COPPE/UFRJ. Basicamente um Eletroestimulador Funcional (Functional Electrical Stimulation FES) se baseia na estimulação dos nervos motores via eletrodos cutâneos de modo a movimentar (contrair ou distender) os músculos, visando o fortalecimento muscular, a ativação de vias nervosas (reinervação), manutenção da amplitude de movimento, controle de espastici
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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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Books on the topic "Sliding mode control. Linear control systems. Nonlinear systems"

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Young, K. D., and Ü. Özgüner, eds. Variable structure systems, sliding mode and nonlinear control. Springer London, 1999. http://dx.doi.org/10.1007/bfb0109967.

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service), SpringerLink (Online, ed. Discontinuous control systems: Frequency-domain analysis and design. Birkhäuser, 2009.

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Palm, Rainer. Model based fuzzy control: Fuzzy gain schedulers and sliding mode fuzzy controllers. Springer, 1997.

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PhD, Yang Li, Jianhua Zhang PhD, and Wu Qiong MA. Adaptive Sliding Mode Neural Network Control for Nonlinear Systems. Academic Press, 2018.

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Adaptive Sliding Mode Neural Network Control for Nonlinear Systems. Elsevier, 2019. http://dx.doi.org/10.1016/c2017-0-02242-5.

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(Editor), K. D. Young, and Ü. Özgüner (Editor), eds. Variable Structure Systems, Sliding Mode and Nonlinear Control (Lecture Notes in Control and Information Sciences). Springer, 1999.

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Hu, Jun, Zidong Wang, and Huijun Gao. Nonlinear Stochastic Systems with Network-Induced Phenomena: Recursive Filtering and Sliding-Mode Design. Springer, 2014.

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Hu, Jun, Zidong Wang, and Huijun Gao. Nonlinear Stochastic Systems with Network-Induced Phenomena: Recursive Filtering and Sliding-Mode Design. Springer, 2016.

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Hellendoorn, Hans, Dimiter Driankov, and Rainer Palm. Model Based Fuzzy Control: Fuzzy Gain Schedulers and Sliding Mode Fuzzy Controllers. Springer, 1996.

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Book chapters on the topic "Sliding mode control. Linear control systems. Nonlinear systems"

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Tomás-Rodríguez, María, and Stephen P. Banks. "Sliding Mode Control for Nonlinear Systems." In Linear, Time-varying Approximations to Nonlinear Dynamical Systems. Springer London, 2010. http://dx.doi.org/10.1007/978-1-84996-101-1_7.

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Patete, Anna, and Katsuhisa Furuta. "Self-Tuning Control Based on Generalized Minimum Variance Criterion Under the Sliding Mode Concept for Linear and a Class of Nonlinear Systems." In Lecture Notes in Electrical Engineering. Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-53021-1_36.

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Robinett, Rush D., Clark R. Dohrmann, G. Richard Eisler, et al. "Nonlinear Systems and Sliding Mode Control." In Flexible Robot Dynamics and Controls. Springer US, 2002. http://dx.doi.org/10.1007/978-1-4615-0539-6_7.

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Bandyopadhyay, Bijnan, and Abhisek K. Behera. "Event-Triggered Sliding Mode Control for Nonlinear Systems." In Event-Triggered Sliding Mode Control. Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-74219-9_3.

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Bandyopadhyay, Bijnan, and Abhisek K. Behera. "Event-Triggered Sliding Mode Control for Linear Systems." In Event-Triggered Sliding Mode Control. Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-74219-9_2.

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Bandyopadhyay, Bijnan, and Abhisek K. Behera. "Self-Triggered Sliding Mode Control for Linear Systems." In Event-Triggered Sliding Mode Control. Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-74219-9_4.

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Bandyopadhyay, Bijnan, and Abhisek K. Behera. "Discrete Event-Triggered Sliding Mode Control for Linear Systems." In Event-Triggered Sliding Mode Control. Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-74219-9_5.

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Qu, Shao-Cheng, and Yong-Ji Wang. "Fuzzy Sliding Mode Control for Uncertain Nonlinear Systems." In Fuzzy Systems and Knowledge Discovery. Springer Berlin Heidelberg, 2005. http://dx.doi.org/10.1007/11539506_119.

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Chairez, Isaac, Alexander Poznyak, and Tatyana Poznyak. "High Order Sliding Mode Neurocontrol for Uncertain Nonlinear SISO Systems: Theory and Applications." In Modern Sliding Mode Control Theory. Springer Berlin Heidelberg, 2008. http://dx.doi.org/10.1007/978-3-540-79016-7_9.

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Mondal, Sanjoy, Jawhar Ghommam, and Maarouf Saad. "An Adaptive Finite-Time Consensus Control for Higher-Order Nonlinear Multi-agent Systems." In Applications of Sliding Mode Control. Springer Singapore, 2016. http://dx.doi.org/10.1007/978-981-10-2374-3_11.

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Conference papers on the topic "Sliding mode control. Linear control systems. Nonlinear systems"

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LI, YU-FENG, and JAN WIKANDER. "DISCRETE-TIME SLIDING MODE CONTROL FOR LINEAR SYSTEMS WITH NONLINEAR FRICTION." In Proceedings of the 6th IEEE International Workshop on Variable Structure Systems. WORLD SCIENTIFIC, 2000. http://dx.doi.org/10.1142/9789812792082_0002.

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Kim, Byeongil, and Gregory N. Washington. "Nonlinear Position Control of Smart Actuators Using Model Predictive Sliding Mode Control." In ASME 2008 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. ASMEDC, 2008. http://dx.doi.org/10.1115/smasis2008-602.

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This paper investigates a novel nonlinear positioning control methodology for piezoelectric stack actuators. Piezoelectric devices become very common recently for precise positioning, primarily due to the fact that they are solid state and can be accurately controlled by a voltage or current input. However, hysteresis decreases positioning accuracy and could lead to instability. The ultimate goal is to reduce it so that the piezoelectric device has a nearly linear relationship between the input field and output strain. The main purpose of this research is the reduction of the hysteresis utiliz
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Mutoh, Yasuhiko, and Nao Kogure. "Sliding Mode Control of Linear Time-varying Systems - Application to Trajectory Tracking Control of Nonlinear Systems." In 11th International Conference on Informatics in Control, Automation and Robotics. SCITEPRESS - Science and and Technology Publications, 2014. http://dx.doi.org/10.5220/0005019704920498.

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Ghorbanian, Parham, Sergey G. Nersesov, and Hashem Ashrafiuon. "Optimal Sliding Mode Control for a Class of Underactuated Nonlinear Systems." In ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control. ASMEDC, 2011. http://dx.doi.org/10.1115/dscc2011-6057.

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In this paper, a general framework that provides sufficient conditions for asymptotic stabilization of underactuated nonlinear systems using an optimal sliding mode control in the presence of system uncertainties is presented. A performance objective is used to optimally select the parameters of the sliding mode control surfaces subject to state and input constraints. It is shown that the closed-loop system trajectories reach the optimal sliding surfaces in finite time and a constructive methodology to determine exponential stability of the closed-loop system on the sliding surfaces is develop
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Younsi, Abdelaziz, Toufik Amieur, Oualid Amieur, Moussa Sedraoui, and Djamel Taibi. "Adaptive fuzzy sliding mode control based on linear matrix inequalities for nonlinear systems." In 2017 14th International Multi-Conference on Systems, Signals & Devices (SSD). IEEE, 2017. http://dx.doi.org/10.1109/ssd.2017.8166980.

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Ding, Xibei, and Alok Sinha. "Hydropower Plant Frequency Control via Feedback Linearization and Sliding Mode Control." In ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control. ASMEDC, 2011. http://dx.doi.org/10.1115/dscc2011-6141.

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This paper presents a new nonlinear controller design approach for a hydraulic power plant focusing on Load Frequency Control aspect. It is based on input state feedback linearization and sliding mode/H∞ control. Simulation results for a nonlinear dynamic model of entire hydropower plant are presented and compared to those from the classical linear PI controller. A novel two-stage scheme for the nonlinear controller design with integral feedback is presented for a fast transient response and zero steady state error.
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Slightam, Jonathon E., Mark L. Nagurka, and Eric J. Barth. "Sliding Mode Impedance Control of a Hydraulic Artificial Muscle." In ASME 2018 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/dscc2018-9186.

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Hydraulic artificial muscles offer unrivaled specific power and power density and are instrumental to the improved performance and success of soft robotics and lightweight mobile applications. This paper addresses the lack of model-based impedance control approaches for soft actuators such as hydraulic artificial muscles. Impedance control of actuators and robotic systems has been proven to be an effective approach for interacting with physical objects in the presence of uncertainty. A sliding mode impedance control approach based on Filippov’s principle of equivalent dynamics is introduced an
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Bilgin, Nurdan, and Metin U. Salamci. "Sliding Mode Control Design for Nonlinear Systems Without Reaching Phase and its Applications to a Flexible Spacecraft." In ASME 2014 12th Biennial Conference on Engineering Systems Design and Analysis. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/esda2014-20038.

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Two new Sliding Mode Control (SMC) design methods for nonlinear systems are presented in order to eliminate the reaching phase in the SMC. The sliding surface design approaches are based on optimal sliding surface selection methods for Linear Time Invariant (LTI) and Linear Time Varying (LTV) systems. The reaching phase is eliminated by confining the LTI/LTV system on a predefined linear level surface that moves to the designed optimal sliding hyperplane exponentially. The methodology is extended to nonlinear systems by using two approaches; the “State Dependent Riccati Equation” (SDRE) and “A
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Lin, Yang, Yang Shi, and Richard Burton. "Modeling and Robust Discrete-Time Sliding Mode Control Design for a Fluid Power Electrohydraulic Actuator (EHA) System." In ASME 2009 Dynamic Systems and Control Conference. ASMEDC, 2009. http://dx.doi.org/10.1115/dscc2009-2622.

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This paper studies the design of a robust discrete-time sliding mode control (DT-SMC) for a high precision electro-hydraulic actuator (EHA) system with nonlinear actuator friction. Nonlinear friction in the hydraulic actuator can greatly influence the performance and accuracy of the hydraulic actuators; however, it is difficult to accurately model nonlinear friction characteristics. In this paper, it is proposed to characterize frictions as an uncertainty in the system matrices. Indeed, the effects of variations of the nonlinear friction coefficients are considered as norm bounded uncertaintie
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Gurley, Austin, Kyle Kubik, Tyler Ross Lambert, David Beale, and Royall Broughton. "Bowden Tube NiTi Actuators With Linear Parameter Varying Model and Sliding Mode Control." In ASME 2017 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/smasis2017-3989.

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One of the primary difficulties to implementing NiTi shape memory alloys as robotic actuators is reliably amplifying their low linear strain to large effective displacements. Bowden tubes, called “push-pull cables” in other industries, allow a long length of Shape Memory Alloy (SMA) wire to fit in a small space; this provides a method for increasing effective SMA actuator strain without compromising space or complexity of the entire mechanism. The mechanical advantage of the Bowden tube provides faster actuation speeds, but comes at a cost of increased thermal capacitance resulting in higher p
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