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Mode Controller (mode + controller)
Kinds of Mode Controller Selected AbstractsThe Application of the Sliding Mode Controller on the Ship Roll Reduction in Random Waves Using Genetic AlgorithmNAVAL ENGINEERS JOURNAL, Issue 4 2006Ming-Chung Fang The paper presents the sliding mode controller technique with roll reduction function on the ship rudder to simulate ship motion in random sea. By way of the rudder operation, the trackkeeping ability of the sliding mode controller on the ship is also examined using the line-of-sight (LOS) guidance technique. To reduce computer time consumption, the optimized design parameters of sliding mode controller tuned by genetic algorithm are obtained from ship motion simulation in regular waves. Based on the present simulation results in random waves, the combined heading/roll sliding mode controller including LOS technique developed here works for either roll reduction or track-keeping while the ship is maneuvering in waves. [source] A novel discrete-time sliding mode technique and its application to a HDD dual-stage track-seek and track-following servo systemINTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING, Issue 4 2008G. Herrmann Abstract A novel approach for the design of a discrete-time sliding mode controller is presented showing that the dynamics of a sliding-mode state-feedback controller can be designed using a singular LQR approach. The weighting of the control signal is set to zero and dead-beat behaviour for the sliding mode reaching dynamics is achieved. The reaching dynamics are modified when the states are a significant distance away from the sliding surface to avoid any high magnitude control action due to the partial dead-beat approach. The control law also takes into account the constraints on the actuator amplitudes and a stability analysis is presented using a discrete-time version of the Popov criterion. The control approach is demonstrated in conjunction with a recently developed large-span track-seeking and track-following method for dual-stage actuator systems in a hard disk drive (HDD). It is shown how the discrete-time sliding mode control scheme can be incorporated into the observer-based control system for the secondary actuator. Superior performance for the track-seeking and track-settling process is demonstrated using an existing practical set-up of a dual-stage HDD servo system. Copyright © 2007 John Wiley & Sons, Ltd. [source] Manoeuvring and vibration reduction of a flexible spacecraft integrating optimal sliding mode controller and distributed piezoelectric sensors/actuatorsINTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING, Issue 6 2007Qinglei Hu Abstract This investigation is to apply optimal sliding mode (OSM) control theory and distributed piezoelectric sensor/actuator technology to vibration control of a flexible spacecraft. An approximate analytical dynamic model of a slewing flexible spacecraft with surface-bonded piezoelectric sensors/actuators is developed using Hamilton's principle with discretization by assumed model method. To satisfy pointing requirements and simultaneously suppress vibration, two separate control loops are adopted. The first uses the piezoceramics as sensors and actuators to actively suppress certain flexible modes by designing a positive position feedback (PPF) compensators that add damping to the flexible structures in certain critical modes in the inner feedback loop; then a second feedback loop is designed using OSM control to slew the spacecraft. The OSM controller minimizes the expected value of a quadratic objective function consisting of only the states with the constraints that the error states always remain on the intersection of sliding surfaces. The advantage in this method is that the vibration reduction and attitude control are achieved separately in the two separate feedback loops, allowing the pointing requirements and simultaneous vibrations suppression to be satisfied independently of one another. An additional attraction of the design method is that the selection of PPF gain is determined by introducing a cost function to be minimized by the feedback gains which are subject to the stability criterion at the same time, such that the feedback gains are selected in a more systematical way to avoid the arbitrary selecting of feedback gains. The proposed control strategy has been implemented on a flexible spacecraft, which is a hub with a cantilever flexible beam appendage and can undergo a single axis rotation. Both analytical and numerical results are presented to show the theoretical and practical merits of this approach. Copyright © 2006 John Wiley & Sons, Ltd. [source] Robust output regulation of minimum phase nonlinear systems using conditional servocompensatorsINTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, Issue 2 2005Sridhar Seshagiri Abstract We consider the design of a robust continuous sliding mode controller for the output regulation of a class of minimum-phase nonlinear systems. Previous work has shown how to do this by incorporating a linear servocompensator in the sliding mode design, but the transient performance is degraded when compared to ideal sliding mode control. Extending previous ideas from the design of ,conditional integrators' for the case of asymptotically constant references and disturbances, we design the servocompensator as a conditional one that provides servocompensation only inside the boundary layer; achieving asymptotic output regulation, but with improved transient performance. We give both regional as well as semi-global results for error convergence, and show that the controller can be tuned to recover the performance of an ideal sliding mode control. Copyright © 2005 John Wiley & Sons, Ltd. [source] Adaptive sliding mode control of air,fuel ratio in internal combustion enginesINTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, Issue 6 2004Jason S. Souder Abstract A simplified model of an internal combustion engine is used to derive a sliding mode control law. Adaptive update laws are derived for two fueling parameters that describe fuel flow into the cylinders, and a third parameter that describes air flow into the cylinders. The update laws allow the sliding mode control gain, which is usually increased to overcome model uncertainty, to be reduced. This improves the tracking performance of the sliding mode controller in the presence of the feedback time delays. The parameter update laws are modified to bound the parameter values and allow all three parameter update laws to run simultaneously. The effect of the sampling rate on the adaptive sliding mode controller performance and air,fuel ratio biasing via gain selection are also addressed. Copyright © 2004 John Wiley & Sons, Ltd. [source] Sliding mode control of boost and buck-boost power converters using the dynamic sliding manifoldINTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, Issue 14 2003Yuri B. Shtessel Abstract Non-minimum phase tracking control is studied for boost and buck-boost power converters. A sliding mode control algorithm is developed to track directly a causal voltage tracking profile given by an exogenous system. The approximate causal output non-minimum phase asymptotic tracking in non-linear boost and buck-boost power converters is addressed via sliding mode control using a dynamic sliding manifold (DSM). Use of DSM allows the stabilization of the internal dynamics when the output tracking error tends asymptotically to zero in the sliding mode. The sliding mode controller with DSM links features of conventional sliding mode control (insensitivity to matched non-linearities and disturbances) and a conventional dynamic compensator (accommodation to unmatched disturbances). Numerical examples demonstrate the effectiveness of the sliding mode controller even for a known time-varying load. Copyright © 2003 John Wiley & Sons, Ltd. [source] Sliding mode control design for uncertain time-delay systems subjected to a class of nonlinear inputsINTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, Issue 6 2003Jun-Juh Yan Abstract A sliding mode controller is developed for uncertain time-delay systems with a class of nonlinear inputs. Two main results are derived in this paper. The first result is the presentation of a new delay-dependent stability condition of uncertain time-delay systems. In a comparison example, this stability condition is shown to be less conservative than the ones reported recently. The second result is to present a new sliding mode control for uncertain time-delay systems subjected to a class of nonlinear inputs. The stability of time-delay systems with unmatching condition in the sliding mode is also discussed. Two illustrative examples are included to demonstrate the superiority of the obtained results. Copyright © 2003 John Wiley & Sons, Ltd. [source] Rider's net moment estimation using control force of motion system for bicycle simulatorJOURNAL OF FIELD ROBOTICS (FORMERLY JOURNAL OF ROBOTIC SYSTEMS), Issue 11 2004Jae-Cheol Shin One of the challenging problems with bicycle simulators is to deal with the virtual bicycle dynamics that is coupled with rider's motion. For the virtual bicycle dynamics calculation and the real time simulation, it is necessary to identify the control inputs from the rider as well as the virtual environments. The steering, pedaling, and braking torques can be easily measured by using torque sensors and the virtual environments can be generated and provided by a visual system. However, direct measurement of the rider's net moment that significantly affects the bicycle motion is not practical. In this work, it is shown that six control forces of the Stewart platform-based motion system can be used for effective estimation of the rider's net moment, incorporated with the sliding mode controller with perturbation estimation. © 2004 Wiley Periodicals, Inc. [source] Experimental testing of a discrete-time sliding mode controller for trajectory tracking of a wheeled mobile robot in the presence of skidding effectsJOURNAL OF FIELD ROBOTICS (FORMERLY JOURNAL OF ROBOTIC SYSTEMS), Issue 4 2002M. Letizia Corradini This article addresses the trajectory tracking problem for a wheeled mobile base, considering the presence of disturbances that violate the nonholonomic constraint, and using an approximated discrete-time model for the vehicle. The proposed solution is based on discrete-time sliding mode control, in order to ensure that the controller is both robust and implementable. The asymptotic boundedness of the discrete-time tracking errors is theoretically proved, and experimental results are reported, showing the effectiveness of the proposed control law. © 2002 Wiley Periodicals, Inc. [source] Perfect position/force tracking of robots with dynamical terminal sliding mode controlJOURNAL OF FIELD ROBOTICS (FORMERLY JOURNAL OF ROBOTIC SYSTEMS), Issue 9 2001V. Parra-Vega According to a given performance criteria, perfect tracking is defined as the performance of zero tracking error in finite time. It is evident that robotic systems, in particular those that carry out compliant task, can benefit from this performance since perfect tracking of contact forces endows one or many constrained robot manipulators to interact dexterously with the environment. In this article, a dynamical terminal sliding mode controller that guarantees tracking in finite-time of position and force errors is proposed. The controller renders a dynamic sliding mode for all time and since the equilibrium of the dynamic sliding surface is driven by terminal attractors in the position and force controlled subspaces, robust finite-time convergence for both tracking errors arises. The controller is continuous; thus chattering is not an issue and the sliding mode condition as well the invariance property are explicitly verified. Surprisingly, the structure of the controller is similar with respect to the infinite-time tracking case, i.e., the asymptotic stability case, and the advantage becomes more evident because terminal stability properties are obtained with the same Lyapunov function of the asymptotic stability case by using more elaborate error manifolds instead of a more complicated control structure. A simulation study shows the expected perfect tracking and a discussion is presented. © 2001 John Wiley & Sons, Inc. [source] The Application of the Sliding Mode Controller on the Ship Roll Reduction in Random Waves Using Genetic AlgorithmNAVAL ENGINEERS JOURNAL, Issue 4 2006Ming-Chung Fang The paper presents the sliding mode controller technique with roll reduction function on the ship rudder to simulate ship motion in random sea. By way of the rudder operation, the trackkeeping ability of the sliding mode controller on the ship is also examined using the line-of-sight (LOS) guidance technique. To reduce computer time consumption, the optimized design parameters of sliding mode controller tuned by genetic algorithm are obtained from ship motion simulation in regular waves. Based on the present simulation results in random waves, the combined heading/roll sliding mode controller including LOS technique developed here works for either roll reduction or track-keeping while the ship is maneuvering in waves. [source] Robust sliding mode design for uncertain stochastic systems based on H, control methodOPTIMAL CONTROL APPLICATIONS AND METHODS, Issue 2 2010Yugang Niu Abstract In this paper, the design problem of sliding mode control (SMC) is addressed for uncertain stochastic systems modeled by Itô differential equations. There exist the parameter uncertainties in both the state and input matrices, as well as the unmatched external disturbance. The key feature of this work is the integration of SMC method with H, technique such that the robust stochastic stability with a prescribed disturbance attenuation level , can be achieved. A sufficient condition for the existence of the desired sliding mode controller is obtained via linear matrix inequalities. The reachability of the specified sliding surface is proven. Finally, a numerical simulation example is presented to illustrate the proposed method. Copyright © 2009 John Wiley & Sons, Ltd. [source] Output Feedback Sliding Mode Controller Design Via H, THEORYASIAN JOURNAL OF CONTROL, Issue 1 2003Jeang-Lin Chang ABSTRACT For a linear system with mismatched disturbances, a sliding mode controller using only output feedback is developed in this paper. Through application of the H, control theory, the designed switching surface can achieve robust stabilization and guarantee a level of disturbance rejection during sliding mode. Although the system exhibits disturbances, a state estimator is used which, using only measured outputs, can asymptotically estimate the system states. The control law is designed with respect to the estimated signals. Finally, a numerical example is presented to demonstrate the proposed control scheme. [source] | ||||||||||