Home About us Contact
|
Home About us Contact | ||
|
|
||
Sliding Manifold (sliding + manifold)
Selected AbstractsSliding 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] Robust Tracking Control For A Wheeled Mobile Manipulator With Dual Arms Using Hybrid Sliding-Mode Neural NetworkASIAN JOURNAL OF CONTROL, Issue 4 2007Ching-Chih Tsai ABSTRACT In this paper, a robust tracking controller is proposed for the trajectory tracking problem of a dual-arm wheeled mobile manipulator subject to some modeling uncertainties and external disturbances. Based on backstepping techniques, the design procedure is divided into two levels. In the kinematic level, the auxiliary velocity commands for each subsystem are first presented. A sliding-mode equivalent controller, composed of neural network control, robust scheme and proportional control, is constructed in the dynamic level to deal with the dynamic effect. To deal with inadequate modeling and parameter uncertainties, the neural network controller is used to mimic the sliding-mode equivalent control law; the robust controller is designed to compensate for the approximation error and to incorporate the system dynamics into the sliding manifold. The proportional controller is added to improve the system's transient performance, which may be degraded by the neural network's random initialization. All the parameter adjustment rules for the proposed controller are derived from the Lyapunov stability theory and e-modification such that uniform ultimate boundedness (UUB) can be assured. A comparative simulation study with different controllers is included to illustrate the effectiveness of the proposed method. [source] Robust stabilization of a class of uncertain system via block decomposition and VSCINTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, Issue 15 2002Alexander G. Loukianov Abstract In this paper, a block decomposition procedure for sliding mode control of a class of nonlinear systems with matched and unmatched uncertainties, is proposed. Based on the nonlinear block control principle, a sliding manifold design problem is divided into a number of sub-problems of lower dimension which can be solved independently. As a result, the nominal parts of the sliding mode dynamics is linearized. A discontinuous feedback is then used to compensate the matched uncertainty. Finally, a step-by-step Lyapunov technique and a high gain approach is applied to obtain hierarchical fast motions on the sliding manifolds and to achieve the robustness property of the closed-loop system motion with respect to unmatched uncertainty. Copyright © 2002 John Wiley & Sons, Ltd. [source] | ||||||||||