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王化謙 and Huaqian Wang. "A novel sliding mode control method for induction motor drives." Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 1995. http://hub.hku.hk/bib/B31234495.
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Wang, Huaqian. "A novel sliding mode control method for induction motor drives /." [Hong Kong] : University of Hong Kong, 1995. http://sunzi.lib.hku.hk/hkuto/record.jsp?B15970073.
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Ellis, Joshua Randolph. "Modeling, Dynamics, and Control of Tethered Satellite Systems." Diss., Virginia Tech, 2010. http://hdl.handle.net/10919/26456.
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Tethered satellite systems (TSS) can be utilized for a wide range of space-based applications, such as satellite formation control and propellantless orbital maneuvering by means of momentum transfer and electrodynamic thrusting. A TSS is a complicated physical system operating in a continuously varying physical environment, so most research on TSS dynamics and control makes use of simplified system models to make predictions about the behavior of the system. In spite of this fact, little effort is ever made to validate the predictions made by these simplified models.
In an ideal situation, experimental data would be used to validate the predictions made by simplified TSS models. Unfortunately, adequate experimental data on TSS dynamics and control is not readily available at this time, so some other means of validation must be employed. In this work, we present a validation procedure based on the creation of a top-level computational model, the predictions of which are used in place of experimental data. The validity of all predictions made by lower-level computational models is assessed by comparing them to predictions made by the top-level computational model. In addition to the proposed validation procedure, a top-level TSS computational model is developed and rigorously verified.
A lower-level TSS model is used to study the dynamics of the tether in a spinning TSS. Floquet theory is used to show that the lower-level model predicts that the pendular motion and transverse elastic vibrations of the tether are unstable for certain in-plane spin rates and system mass properties. Approximate solutions for the out-of-plane pendular motion are also derived for the case of high in-plane spin rates. The lower-level system model is also used to derive control laws for the pendular motion of the tether. Several different nonlinear control design techniques are used to derive the control laws, including methods that can account for the effects of dynamics not accounted for by the lower-level model. All of the results obtained using the lower-level system model are compared to predictions made by the top-level computational model to assess their validity and applicability to an actual TSS.Ph. D.
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Dai, Min. "Control of power converters for distributed generation applications." Connect to resource, 2005. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=osu1124329850.
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Chen, Zengshi. "Dynamics and control of collision of multi-link humanoid robots with a rigid or elastic object." Columbus, Ohio : Ohio State University, 2006. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=osu1158442034.
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Haskara, Ibrahim. "Sliding mode estimation and optimization methods in nonlinear control problems." The Ohio State University, 1999. http://rave.ohiolink.edu/etdc/view?acc_num=osu1250272986.
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Haskara, ?brahim. "Sliding mode estimation and optimization methods in nonlinear control problems /." The Ohio State University, 1999. http://rave.ohiolink.edu/etdc/view?acc_num=osu1488192960166775.
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Haskara, İbrahim. "Sliding mode estimation and optimization methods in nonlinear control problems /." Connect to resource, 1999. http://rave.ohiolink.edu/etdc/view.cgi?acc%5Fnum=osu1250272986.
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Acarman, Tankut. "Frequency shaping and other dynamic compensation methods for sliding mode control /." The Ohio State University, 2002. http://rave.ohiolink.edu/etdc/view?acc_num=osu1486463321624227.
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Sellami, Takwa. "Contribution à l’usage de l’analyse vibratoire comme outils de monitoring et de diagnostic d’avaries pour les machines électriques tournantes." Thesis, Cergy-Pontoise, 2017. http://www.theses.fr/2017CERG0915.
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Les capacités installées d’énergie éolienne continuent à croître rapidement et prennent une place de plus en plus significative dans le monde. Au fur et à mesure, les études menées sur la conception, la sureté de fonctionnement et la supervision de la chaîne éolienne ont pris progressivement de l’importance. Deux axes de recherche ont été privilégiés dans cette thèse. Le premier concerne la continuité de service d'une éolienne connectée au réseau en présence de défaut de court-circuit entre spires dans une phase du stator de la génératrice asynchrone à cage d'écureuil. L'analyse du défaut ainsi que son impact sur le système éolien et notamment sur la qualité de la puissance produite souligne l'intérêt de développement d'un algorithme de détection et d'isolation rapide, dédié par la suite à la reconfiguration de la commande. Ainsi, une commande tolérante au défaut (CTD) a été conçue de manière à éviter l'arrêt de la production, compenser l'impact de défaut et garder des performances acceptables de la qualité d'énergie produite. Le travail effectué s'est articulé sur les observateurs à mode glissant (OMG), communément connus comme outil puissant pour la supervision et la commande à la fois. Le deuxième axe porte sur la sécurité structurale et la stabilité du système éolien sous contraintes vibratoires. Les travaux se répartissent en deux parties complémentaires : L'établissement d'un modèle numérique tridimensionnel (3-D) sous un logiciel d’analyse par éléments finis (ANSYS) et la réalisation des essais vibratoires sous différentes excitations au sein d'une plateforme vibratoire (TREVISE). Dans ce cadre, un modèle numérique (3-D) d'une éolienne à axe horizontal couplée à un mât et une fondation adéquats a été développé en utilisant la méthode de volumes finis (FVM) afin d'appréhender son comportement vibratoire. Les essais vibratoires expérimentaux valident le modèle numérique et permettent l’identification de la réponse dynamique de la structure d'une manière fine. De plus, nous avons élaboré un modèle expérimental de la tenue de l’éolienne aux contraintes vibratoires de formes aléatoire, sinusoïdale et impulsionnelleThe wind energy capacity carries on growing quickly and taking an increasingly significant place in the world. Progressively, research studies dealing with designing and supervising wind turbines have become more important. Two areas of research were developed in this thesis. The first one concerns the continuity of service of a wind turbine connected to the grid while an inter-turn short-circuit fault is present in the stator phase of the induction squirrel cage generator. The analysis of the fault as well as its impact on the wind turbine system and mainly on the quality of the produced power highlights the interest of development of a fast detection and isolation algorithm, dedicated to the reconfiguration of the control law. Hence, a fault tolerant control scheme has been established in order to avoid stopping production, compensate the fault impact and maintain acceptable performances of the quality of the produced energy. The carried out work was based on sliding mode observers, commonly known as robust tools for monitoring and controlling at the same time. The second axis concerns the structural modeling and stability checking of the wind system under vibratory stresses. The work is divided into two complementary parts: The establishment of a three-dimensional (3-D) numerical model using a finite element analysis software (ANSYS) and the realization of vibratory tests under different excitations within the platform (TREVISE). In this framework, a numerical (3-D) model of a horizontal axis wind turbine coupled to a suitable tower and foundation was developed basing on the finite volume method (FVM) in order to analyze its vibratory behavior. The experimental vibratory tests validate the numerical model and allow the identification of the dynamic response of the structure in a precise way. In addition, we have developed an experimental model of the behavior of the wind turbine under vibratory stresses of random, sinusoidal and impulse shapes
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Bernardes, Thiago Araújo. "Controle sem sensores mecânicos para gerador síncrono a ímã permanente." Universidade Federal de Santa Maria, 2015. http://repositorio.ufsm.br/handle/1/3693.
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Coordenação de Aperfeiçoamento de Pessoal de Nível SuperiorThis Thesis proposes sensorless vector control schemes that combine designed observers in the discrete-time domain to estimate the rotor position and speed for a permanent magnet synchronous generator of non-salient poles. Two control schemes are proposed. The first scheme is based on a discrete sliding mode current observer in series with an adaptive electromotive force observer. Then, the sliding conditions that assure the sliding motion around the sliding surface are derived to ensure the stability of the current observer as well as an innovative design procedure is proposed for it. Moreover, the electromotive force observer is designed using Lyapunov s Discrete Direct Method, which provides the estimated rotor position and speed. The second scheme extends the developed methodology for the former, considering the parametric uncertainties and eliminating the high frequency components of chattering. The second scheme uses a discrete sliding mode current observer as in the first scheme. However, the electromotive force observer is replaced by a phase-locked loop in series with a discrete sliding mode robust differentiator, which follows the proposed methodology for the discrete sliding mode current observer. Experimental results validate the theoretical analysis and demonstrate the performance of the proposed control schemes considering a small scale wind energy conversion system. In addition, proposed schemes are compared with others of the literature. It should be noticed that the whole approach is carried out in discrete time domain making it suitable for a microcontroller or digital signal processor implementation.
Esta Tese propõe esquemas de controle vetorial sem sensores mecânicos de posição e de velocidade que combinam observadores projetados no domínio de tempo discreto para estimar essas variáveis para um gerador síncrono a ímãs permanentes de polos não salientes. Dois esquemas de controle são propostos. O primeiro esquema baseiase em um observador de corrente por modos deslizantes discretos em série com um observador adaptativo de força eletromotriz. Então, as condições de deslizamento que asseguram os modos deslizantes em torno da superfície de deslizamento são estabelecidas no domínio de tempo discreto para garantir a estabilidade do observador de corrente e um inovador procedimento de projeto para ele é proposto. Em seguida, o observador de força eletromotriz é projetado usando o método direto de Lyapunov discreto, que fornece a posição e a velocidade rotóricas estimadas. O segundo esquema estende a metodologia desenvolvida para o primeiro, considerando as incertezas paramétricas bem como eliminando as componentes de alta frequência de chattering. O segundo esquema usa um observador de corrente por modos deslizantes discretos como o primeiro. Entretanto, o observador de força eletromotriz é substituído por um retentor de fase em série com um diferenciador robusto por modos deslizantes discretos, que segue a metodologia proposta para o observador de corrente. Resultados experimentais validam a análise teórica desenvolvida e demonstram o desempenho dos esquemas de controle propostos considerando um sistema de conversão de energia eólica de pequeno porte. Além disso, os esquemas propostos são comparados com outros da literatura. Ressalta-se que a toda abordagem é desenvolvida no domínio de tempo discreto tornando-a apta para uma implementação em microcontroladores e em processadores digitais de sinais.
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Harmouche, Mohamed. "Contribution à la théorie de la commande par modes glissants d'ordre supérieur et à la commande des systèmes mécaniques sous-actionnés." Thesis, Belfort-Montbéliard, 2013. http://www.theses.fr/2013BELF0214/document.
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Les systèmes non linéaires sont si diverses que des outils communs de contrôle sont difficiles à développer. La théorie du contrôle non linéaire nécessite une analyse mathématique rigoureuse pour motiver ses conclusions. Cette thèse aborde deux branches distinctes et bien importantes de la théorie du contrôle non linéaire: le contrôle des systèmes non-linéaires incertains et le contrôle des systèmes sous-actionnés.Dans la première partie, une classe de contrôleurs par mode glissant d’ordre supérieur (MGOS) robuste, basée sur la synthèse de Lyapunov, est développée pour le contrôle des systèmes non-linéaires incertains. Cette classe de contrôleurs est basée sur une classe de régulateurs qui stabilisent une pure chaîne d’intégrateurs en temps fini, et nécessite la connaissance a priori des bornes sur les incertitudes du système. Puis, afin d’éliminer la dépendance liée à la connaissance de ces bornes, un contrôleur par MGOS adaptatif est développé. Dans un deuxième temps, un contrôleur par MGOS homogène universel est développé où il est montré que le degré d’homogénéité peut être manipulé pour obtenir des avantages supplémentaires, tels que la bornitude de la commande, la garantie d’une amplitude minimale de la discontinuité de la commande et la convergence en temps fixe. Les performances des contrôleurs proposés ont été démontrées par des simulations et à travers des résultats expérimentaux sur un système pile à combustible.Dans la deuxième partie de la thèse, deux problèmes de commande de systèmes sous-actionnés sont étudiés. Le premier problème concerne le suivi de chemin global d’un robot mobile avec un point de visée. Le deuxième problème concerne la poursuite de trajectoire globale d’un bateau. Ces deux problèmes sont de nature distincte, cependant, ils sont soumis à des contraintes physiques similaires liées à la bornitude de la commande. Ainsi, les contrôleurs proposés sont basés sur l’utilisation de commandes saturées. Des simulations ont été effectuées pour démontrer les performances de ces contrôleursNonlinear systems are so diverse that generalized tools for control are difficult to develop. Nonlinear control theory requires rigorous mathematical analysis to justify its conclusions. This thesis addresses two distinct, yet important branches of nonlinear control theory: control of uncertain nonlinear systems and control of under-actuated systems.In the first part, a class of Lyapunov-based robust arbitrary higher order sliding mode (HOSM) controllers is developed for the control of uncertain nonlinear systems. This class of controllers is based on a class of controllers for finite-time stabilization of pure integrator chain, and requires the limits of the system uncertainty to be known a-priori. Then, in order to eliminate the dependence on the knowledge of these limits, an adaptive arbitrary HOSM controller is developed. Using this new class, a universal homogeneous arbitrary HOSM controller is developed and it is shown that the homogeneity degree can be manipulated to obtain additional advantages in the proposed controllers, such as bounded control, minimum amplitude of discontinuous control and fixed time convergence. The performance of the controllers has been demonstrated through simulations and experiments on a fuel cell system.In the next part, the control of two under-actuated systems is studied. The first control problem is the global path following of car-type robotic vehicle, using target-point. The second problem is the precise tracking of surface marine vessels. Both these problems are distinct in nature; however, they are subjected to similar physical constraints. The solutions proposed for these control problems use saturated controls, taking into account the physical bounds on the control inputs. Simulations have been performed to demonstrate the performance of these controllers
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Cildoz, Mariana Uzeda. "Estudo comparativo de controladores de estrutura variável por modos deslizantes aplicados a veículos subaquáticos autônomos." Universidade Estadual do Oeste do Parana, 2014. http://tede.unioeste.br:8080/tede/handle/tede/1078.
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Previous issue date: 2014-08-29This work presents a comparative study between four different sliding mode variable structure control strategies (SMVSC) applied to autonomous underwater vehicles (AUV) positioning in 6 DOF, under the influence of wind, waves and marine currents. The addressed strategies are the conventional CEV-MD control based on Lyapunov stability, the CEV-MD control based on the equivalent control, the CEV-MD control based on the input-output stability and the CEVMD adaptive control. The accomplished comparisons seek a satisfactory tradeoff between the tracking performance and the closed-loop system stability in light of eliminating the chattering phenomenon. In that sense, the analysis and synthesis of the respective SMVSC control laws is carried out fromthe Lyapunov Stability Theory and the Barbalat s Lemma. As well as numerical simulations are implemented to obtaining the respective performances of each SMVSC control strategy presented.
Este trabalho apresenta um estudo comparativo entre quatro diferentes estratégias de controle de estrutura variável por modos deslizantes (CEV-MD) aplicadas ao posicionamento de veículos subaquáticos autônomos (VSA) em 6 GDL, sob a influência de ventos, ondas e correntes marinhas. As estratégias abordadas são o controle CEV-MD convencional baseado na estabilidade de Lyapunov, o controle CEV-MD baseado no controle equivalente, o controle CEV-MD baseado na estabilidade entrada-saída e o controle CEV-MD adaptativo. As comparações realizadas visam a eliminação do do fenômeno do chattering buscando um compromisso satisfatório entre o desempenho de rastreamento e a estabilidade do sistema em laço fechado. Nesse sentido, a análise e síntese das respectivas leis de controle CEV-MD é realizada a partir da Teoria de Estabilidade de Lyapunov e do Lema de Barbalat. Assim como simulações numéricas são implementadas para a obtenção dos respectivos desempenhos de cada estratégia de controle CEV-MD apresentada.
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Wells, Scott R. "Application of sliding mode methods to the design of reconfigurable flight control systems /." For electronic version search Digital dissertations database. Restricted to UC campuses. Access is free to UC campus dissertations, 2002. http://uclibs.org/PID/11984.
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Rao, Sachit Srinivasa. "Sliding mode control in mechanical, electrical and thermal distributed processes." Columbus, Ohio : Ohio State University, 2006. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=osu1164817694.
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Kreutzer, Ulf [Verfasser]. "Ein Beitrag zur Regelung elektrischer Maschinen mittels der Sliding-Mode-Methodik / Ulf Kreutzer." Aachen : Shaker, 2011. http://d-nb.info/107152822X/34.
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McGookin, Euan William. "Optimisation of sliding mode controllers for marine applications : a study of methods and implementation issues." Thesis, University of Glasgow, 1997. http://theses.gla.ac.uk/3980/.
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The optimisation of Sliding Mode controllers for marine vehicle guidance is presented in this thesis. This study is concerned with two optimisation methods which are based on natural processes. The first is Simulated Annealing which involves processes analogous to those involved in the cooling process in metallurgy. The second involves Genetic Algorithms which are based on the evolutionary process of species and genetics. These methods are evaluated through studying their application to the optimisation of controller parameters for particular marine vessels. Their performance is measured through simulation studies during the optimisation process. Existing literature in the fields of the two optimisation techniques, Sliding Mode control and marine control is surveyed. The theory of Simulated Annealing is presented in terms of the optimisation process and its convergence properties through Markov Chain analysis. A novel variation of this method, Segmented Simulated Annealing, is also outlined and evaluated in terms of its improved convergence properties. The theory of Genetic Algorithms is presented in terms of its process and convergence properties using Markov Chains and the Schema Theorem. The derivation of a decoupled Sliding Mode control theory is described and its well known stability robust properties are ensured by the choice of an appropriate set of design criteria. The elimination of the chattering phenomenon is achieved by soft switching which ensures performance robustness. The application of Sliding Mode controllers for governing the motion of three marine vehicles and their subsequent optimisation is presented. The first is the simulation of a linear mathematical representation of a military submarine. The second is the simulation of a non-linear mathematical representation of a super tanker. The third is an actual scale model of a supply ship which enables evaluation of the optimised controllers in a laboratory water basin facility.
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Vallot, Dorothée. "Modelling calving and sliding of Svalbard outlet glaciers : Spatio-temporal changes and interactions." Doctoral thesis, Uppsala universitet, Luft-, vatten och landskapslära, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-334787.
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Future sea level rise associated to global warming is one of the greatest societal and environmental challenges of tomorrow. A large part of the contribution comes from glaciers and ice sheets discharging ice and meltwater into the ocean and the recent worldwide increase is worrying. Future predictions of sea level rise try to encompass the complex processes of ice dynamics through glacier modelling but there are still large uncertainties due to the lack of observations or too coarse parameterisation, particularly for processes occurring at the glacier interfaces with the bed (sliding) and with the ocean (calving). This thesis focuses on modelling these processes from two marine-terminating glaciers in Svalbard, Kronebreen and Tunabreen. By inverting three years of high temporal resolution time-series of surface velocities on Kronebreen, basal properties are retrieved with the ice flow model Elmer/Ice in Paper I. Results suggest that surface melt during the summer greatly influences the dynamics of the following season and that sliding laws for such glaciers should be adapted to local and global processes changing in space and time. The subglacial drainage system, fed by the surface melt, is modelled in Paper II during two melting seasons. Results show different configurations of efficient and inefficient drainage systems between years and the importance of using a sliding law dependent on spatio-temporal changes in effective pressure. The interaction with the ocean is incorporated in Paper III by combining a series of models, including an ice flow model, a plume model and a particle model for discrete calving and compares the output with observations. Results show the importance of glacier geometry, sliding and undercutting on calving rate and location. However, more observations and analytic methods are needed. Time-lapse imagery placed in front of Tunabreen have been deployed and a method of automatic detection for iceberg calving is presented in Paper IV. Results show the influence of the rising plume in calving and the front destabilisation of the local neighbourhood.
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Zatloukal, Lukáš. "Odlehčení ojnice vznětového řadového čtyřválce." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2008. http://www.nusl.cz/ntk/nusl-227896.
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This diploma thesis applies to the light-weight itself of a connecting rod of a mass-produced tractor-engine. As a one of the most important and first part of this task is creating a 3D simulation model of a connecting rod. The strenght calculation is following skip factor of the light-weight, the exact calculated dimension of relieve is providing by means of an engine imbalance including the connecting rod. The outcome data of research are instrumental to the new relieve and strengthen 3D design. The conclusion and ending point of the diploma thesis evaluate results.
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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.
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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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Huang, Jenn-Ming, and 黃振銘. "Comparative Study: Time-Delay Method and Sliding Mode Technique for Perturbation Estimation." Thesis, 2002. http://ndltd.ncl.edu.tw/handle/47007703495138689013.
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碩士國立中山大學
電機工程學系研究所
90
Two different perturbation estimation methodologies are compared in this thesis. One is time delay method (TDM), the other is sliding mode techniqueli (SMT). When analyzing the TDM, Pade approximation is used to approximate a function with time-delay argument. The comparisons of perturbation estimation accuracy resulted from TDM and SMT both in time domain and frequency domain are addressed, and two numerical examples are also given for demonstration.
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林肇輝. "An improved method for tracking problem by using sliding mode control technique." Thesis, 2000. http://ndltd.ncl.edu.tw/handle/51602208739641531989.
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Deng, Pei-Cheng, and 鄧培成. "Virtual Eigenvalue Method of Sliding Mode Control for DC-DC Boost Converter." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/39905000785655708278.
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碩士國立交通大學
電機學院電機與控制學程
104
A novel sliding mode controller based on the virtual eigenvalue method is proposed for the voltage regulation of the DC-DC Boost converter, which is a bilinear system. It is required to determine the sliding function first and then locate the related reaching-and-sliding(RAS) region and stable-sliding(SS) region. Theoretically, if the system is initially in the RAS region, its trajectory will be driven to reach the sliding mode in the SS region and approach the control goal. From the numeric results simulated in Matlab/Simulink, the proposed sliding-mode control is indeed able to regulate the converter to the desired voltage.
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Lin, Hung-Ping, and 林泓濱. "Application of Fuzzy Sliding Mode Controller Via Adaptive Method in Inverted Pendulum Systems." Thesis, 2005. http://ndltd.ncl.edu.tw/handle/20977932443607799172.
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碩士國立中央大學
電機工程研究所
93
Application of Fuzzy Sliding Mode Controller Via Adaptive Method in Inverted Pendulum Systems Abstract The paper will address the problem of controlling an unknown single-input-single-output (SISO) and multi-input-multi-output (MIMO) nonlinear system. A fuzzy sliding mode controller (FSMC) is used to approximate the equivalent control via an on-line fuzzy adaptation scheme, and the hitting control is appended to show that the proposed FSMC control with dead zone can result in a stable closed-loop system. This scheme also provides the designers flexibility to design and to implement the fuzzy rule base without domain experts and without mathematical model. The robust adaptive scheme is shown to be able to guarantee that the output tracking error can converge to a residual set ultimately in inverted pendulum systems (single-inverted pendulum system、double-inverted pendulum system、spring-linked two cart-pole systems 、two-dimensional inverted pendulum system).
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WU, WEI-CHUAN, and 吳渭川. "esign and implementation of an induction motor velocity controller using sliding mode method." Thesis, 1993. http://ndltd.ncl.edu.tw/handle/69565374216427559082.
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Lie, Handra-Wijaya, and 李漢春. "Combining Adaptive Fuzzy Sliding Mode Method with Visual Tracking to Control an Overhead Crane." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/60709781904535987736.
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碩士中原大學
電機工程研究所
98
This thesis developed a visual feedback controller which used a CCD to control a two dimensional crane system. A control scheme was developed for the position and anti-swing of a two dimensional overhead crane system. The sliding mode control was proposed as the controller, combined with the fuzzy logic controller to enhance the performance of the sliding mode controller. The slope of the sliding mode function is adaptable to the system characteristic by fuzzy logic controller. The output of the sliding mode controller is decided through the fuzzy logic controller either to cancel the chattering problem. Moreover, a motion planning method for the rapid and smooth transportation, which make the slowly change of the crane’s speed and reduce the acceleration is also employed. The visual tracking based on color histogram is proposed to handle the real-time visual tracking. It tracks down the angle of the rope and the position of the load. The fast recognition and localization of the color histogram method for image pattern recognition and the strategy using moving tracking area is used to increase the calculation speed. Finally, it combines the visual tracking and the crane controller, to be a robust visual feedback controller for the position and anti-swing of a two dimensional crane system.
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Lin, Yi-Sheng, and 林宜生. "The Study of Fuzzy Sliding Mode Control System Based on Particle Swarm Optimization Method." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/57336261972582523493.
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碩士國立高雄海洋科技大學
輪機工程研究所
101
In this paper, the modified particle swarm optimization method which combines modified adaptive fuzzy with a constriction factor (I-AFPSO) is investigated. The capacity parameters of I-AFPSO calculated by the best position of each particles and the best position of the group are inputted to fuzzy control system with fuzzy rule base for on-line updating the accelerating coefficients, which can dynamically adapt the characteristic of particle trend to improve the accuracy and efficiency of proposed algorithm. Furthermore, the adaptive fuzzy sliding mode control scheme for Lorenz-Chen systems synchronization is also investigated in this thesis. In this scheme, the approaching mode demanded to drive the error states of Lorenz-Chen systems to the sliding surface based on an adaptive fuzzy system to output controller in sliding mode. Some numerical simulations are provided to demonstrate the main results. Finally, I-AFPSO is applied in AFSMC to training the positive variable and counting the fitness for reducing the error signal value and more precise in the synchronizations characteristic.
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Han-KuanHuang and 黃瀚寬. "Sliding Mode Tracker Design for Non-minimum Phase Systems with Nonlinear Disturbances: Zero Assignment Method." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/6m3339.
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(8967548), Hikmet Duygu Ozdemir. "EVALUATION OF MODEL PREDICTIVE CONTROL METHOD FOR COLLISION AVOIDANCE OF AUTOMATED VEHICLES." Thesis, 2020.
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Collision avoidance design plays an essential role in autonomous vehicle technology. It's an attractive research area that will need much experimentation in the future. This research area is very important for providing the maximum safety to automated vehicles, which have to be tested several times under different circumstances for safety before use in real life. This thesis proposes a method for designing and presenting a collision avoidance maneuver by using a model predictive controller with a moving obstacle for automated vehicles. It consists of a plant model, an adaptive MPC controller, and a reference trajectory. The proposed strategy applies a dynamic bicycle model as the plant model, adaptive model predictive controller for the lateral control, and a custom reference trajectory for the scenario design. The model was developed using the Model Predictive Control Toolbox and Automated Driving Toolbox in Matlab. Builtin tools available in Matlab/Simulink were used to verify the modeling approach and analyze the performance of the system. The major contribution of this thesis work was implementing a novel dynamic obstacle avoidance control method for automated vehicles. The study used validated parameters obtained from previous research. The novelty of this research was performing the studies using a MPC based controller instead of a sliding mode controller, that was primarily used in other studies. The results obtained from the study are compared with the validated models. The comparisons consisted of the lateral overlap,lateral error, and steering angle simulation results between the models. Additionally,this study also included outcomes for the yaw angle. The comparisons and other outcomes obtained in this study indicated that the developed control model produced reasonably acceptable results and recommendations for future studies.
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(9809531), Patrick Keleher. "Adaptive and sliding mode control of articulated robot arms using the Liapunov method incorporating constraint inequalities." Thesis, 2003. https://figshare.com/articles/thesis/Adaptive_and_sliding_mode_control_of_articulated_robot_arms_using_the_Liapunov_method_incorporating_constraint_inequalities/21721025.
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In this thesis we investigate the control of rigid robotic manipulators using robust adaptive sliding mode tracking control. Physical state constraints are incorporated using a multiplicative penalty in a Liapunov function from which we obtain analytic control laws that drive the robot's endeffector into a desired fixed target within finite time.
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Ku, Sung-Chih, and 古松志. "An Image Tracking Method with Adaptive Fuzzy Sliding Mode Control for a Three Dimensional Overhead Crane System." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/85861155749930262917.
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碩士中原大學
電機工程研究所
101
An image tracking method for a three dimensional overhead crane system was proposed in this thesis. Some mechanism issues and control methods were discussed, which aim at settling defects of encoders using in overhead crane system. Image took the place of encoders in the overhead crane system as a source of feedback for crane controller. The state of the overhead crane system was acquired from images, e.g. positions of the cart, load swing angles and the rope length. A real three dimensional overhead crane system model in the lab was used to to testify to the ability in a real-time control of the crane system and the real-time info-retrieval from images. Observation was used for mechanism of overhead crane system by way of select/give image features, and using the brightest point as the main tracking method; to reduce the computation with moving tracking areas to achieve the objective of control the whole system in real-time. For the model-free crane controller, the sliding mode control was used with fuzzy logic, therefore the slope of sliding function could adapt to the system's different states and improve the performance of control. Methods developed in this thesis give the ability of an overhead crane controller in position, anti-swing, and further, with no drawbacks to encoders. Part of paragraph was used to compare with manual operated control, encoder feedback with intelligent control and visual feedback with intelligent control. In the end, suggestions were made for further research.
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HSU, YUNG-TI, and 徐詠迪. "A Stand-Alone Photovoltaic Power Generation System Using Terminal Sliding Mode Control Combining Maximum Power Point Tracking Control Method." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/6xn3wp.
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碩士中原大學
電機工程研究所
101
To solve the conversion efficiency problem of photovoltaic (PV) generation, a Stand-Alone PV power supply system has been studied. The study has been conducted with maximum power point tracking (MPPT) algorithm, buck DC-DC converter and adaptive backstepping terminal sliding mode control (ABTSMC). Comparing with the accuracy of conventional perturbation’s observation method, the incremental conductance method bears more accuracy. The incremental conductance method which bears a better MPPT accuracy and potential of MPPT optimizing the output powerhasbeen adopted to realize MPPT algorithm. Since MPPT can be powered to maintain maximum power point, it will be the reference input command of adaptive backstepping terminal sliding mode control (ABTSMC). The ABTSMC can be operated to drive the buck converter circuit which requires the desired output voltage-12V as well as obtains maximum power transfer. ABTSMC is a systematic and recursive design of methodology for nonlinear feedback control. In addition, the adaptive control law which combined with the first n-1 steps of the backstepping method are used to estimate the unknown parameters of the system. The Lyapunov function and virtual control which were divided into each subsystem were used to backstepping the entire original system. This method can improve high nonlinearity and time-variation characteristics of the buck converter topology. Thus, it is not necessary to require the detailed circuit system parameters for the presented ABTSMC. This control algorithm makes the closed-loop system infinite stable and tracks error converges to zero in finite time. The simulation results have been concluded that ABTSMC combining with MPPT has excellent performance.
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Lin, Jane-Jing, and 林建蓁. "Position Control of a ball screw driven by a servopneumatic motor using a fuzzy two-sliding mode control method." Thesis, 1994. http://ndltd.ncl.edu.tw/handle/70306588298360787184.
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碩士國立成功大學
機械工程研究所
82
For the controller design, the sliding mode control is a simple method , because it needs only to define a suitable equation of the sliding hyperplane according to the required performance. herefore , it isn't so necessary to find a mathematical model of the system. Usually, only a sliding hyperplane is required to design the sliding mode controller. The higher uncertainty the system has, the chattering happens easily it will. In this paper, we utilize the region of the two sliding hyperplanes as the required range of the sliding mode for the control system, and through the fuzzy control theory to decide the control signal. Through the position and tracking control of a ball screw driven by a pneumatic servomotor , in the paper, one knows that the regional sliding mode fuzzy controller is a new successful controller , which combined both the properties of sliding mode and fuzzy control.
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Chu, Fu-Chi, and 朱福氣. "Using a Modified Simplex Method to Search the Optimal Parameter of a Sliding Mode Controller -Apply in the Magnetic Levitation System." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/93838245456970346224.
Full textAbstract:
碩士國立臺灣海洋大學
機械與機電工程學系
97
We have many kinds of method to adjust the parameter of variable structure controller. The use tries by mistake method or the simplex method can only discover the local best value or the possible closed global best value, but actually cannot guarantee each time for the closed global best value. The present paper proposed that improves the Nelder-Mead Simplex Method can cause the solution to achieve optimized of closed global solution. The Nelder-Mead algorithm goal is in magnetism floated in the detent mechanism to find the Integral variable structure sliding mode controller's each parameter choice and the optimization. Nelder-Mead algorithm by way of establishment controller parameter starting value, and coordinated “the integral of time multiplied by absolute error” to find each kind of partial solution, that chose the closed global best solution in these partial solutions. The modern variable structure control nearly is the construction in sliding mode in the modality foundation design, to control the system tracking approaching condition, with eliminates the system output the static error. So, we choose the integral variable structure sliding mode control to control the magnetic levitation system.
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(13966280), Juiliusz M. Zajackowski. "Model reference adaptive control in Hamiltonian systems." Thesis, 2000. https://figshare.com/articles/thesis/Model_reference_adaptive_control_in_Hamiltonian_systems/21343683.
Full textAbstract:
In this thesis we examine model reference control systems (MRC) in Hamiltonian formulation. The MRC system is then developed into a model reference adaptive control system. We then examine the sliding mode technique in Hamiltonian formulation. Comparison of controller performance is given by way of simulated control of a cylindrical robotic manipulator.
In this thesis we apply the so called Lyapunov direct method. The aim in this method is to construct an energy-like function (Lyapunov function), satisfying certain conditions, and using a control law, force it to decrease with the passage of time. The synthesis problem using the Lyapunov direct method is to select a Lyapunov function candidate and a mechanism to adjust the parameters of the system so that the Lyapunov function satisfies the conditions for stability.
A brief introduction to Newtonian, Lagrangian and Hamiltonian formulation of dynamics is given and illustrated on the same example of a two-link revolute robotic manipulator.
Model reference control is considered for nonlinear plant and reference models which are given in the Hamiltonian format. We show how the Hamiltonian for the reference model can be used as a Lyapunov function for MRC. The method is applied to linear and nonlinear plants, with particular application to robot control.
Model reference adaptive control (MRAC) is introduced as an extension of the MRC results. We use the Liapunov method to determine controllers for adaptive tracking and at the same time give sufficient conditions to ensure that the resulting system is stable.
The sliding mode approach provides a simple and robust method of dealing with modelling imprecision. We next adapt the sliding mode technique to the Hamiltonian formulation and design the control and adaptation laws. We design a stabilising controller for the sliding mode method.
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Samantaray, Swastik. "Robust Adaptive Control of a Laser Beam System for Static and Moving Targets." Thesis, 2016. http://hdl.handle.net/2005/3204.
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The motivation of this thesis is to propose a robust control technique for a laser beam system with target estimation. The laser beam is meant to track and fall on a particular portion of the target until the operation is accomplished. There are many applications of such a system. For example, laser range finder uses laser beam to determine the distance of the target from the source. Recently, unmanned aerial drones have been developed that run on laser power. Drone batteries can be recharged with power sup-ply from laser source on the ground. Laser is also used in high energy laser weapon for defence applications. However, laser beams travelling long distances deviate from the desired location on the target due to continually changing atmospheric parameters (jitter effect) such as pressure, temperature, humidity and wind speed. This deviation error is controlled precisely using a lightweight fast steering mirror (FSM) for fine correction. Furthermore, for a moving target, minimizing the deviation of the beam is not sufficient. Hence, in coarse correction, the target has to be tracked by determining its position and assigning the corresponding azimuth and elevation angles to the laser sources. Once these firing angles are settled within an accuracy of +3 mrad, the effort for minimizing the beam deviation (fine correction) takes place to improve the accu-racy to +10 rad.
The beam deviation due to jitter effect is measured by a narrow field of view (NFOV) camera at a high frame rate (1000 frames per second), which takes one frame to com-pute this error information. As a result, controller receives error information witha delay from NFOV. This data cannot be modelled for prediction and hence, a few promising data driven techniques have been implemented for one step ahead prediction of the beam deviation. The predictions are performed over a set of sliding window data online after rejecting the outliers through least square approximated straight line. In time domain, methods like auto-regressive least square, polynomial extrapolation (zeroth, first and second order), Chebyshev polynomial extrapolation, spline curve extrapolation are implemented. Further, a convex combination of zeroth order hold and spline extrapolation is implemented. In frequency domain, Fourier series-Fourier
transform and L-point Discrete Fourier Transform stretching are implemented where the frequency component of the signal are analysed properly and propagated for one step ahead prediction. After one step ahead prediction, three nominal controllers (PID, DI and DLQR) are designed such that the output of FSM tracks the predicted beam deviation and the performances of these controllers are compared.
Since the FSM is excited by high frequency signals, its performance degrades, which leads to parameter degradation in the mathematical model. Hence, three adaptive controllers have been implemented, namely, model reference adaptive control (MRAC), model reference adaptive sliding mode control (MRASMC) and model following neuro-adaptive control (MFNAC). The parameters of the FSM model are degraded up to 20% and the model is augmented with cross coupling terms because the same mirror is used for horizontal and vertical beam deviation. With this condition, the tracking performance and control rate energy consumption of the implemented adaptive controllers are analysed to choose the best among them.
For a moving target, in coarse correction, two tracking radars are placed to measure the position of the target. However, this information is assumed to be noisy, for which an extended Kalman filter is implemented. Once the position of the target is known, the desired firing angles of the laser sources are determined. Given the laser source steering mathematical model, a controller is designed such that it tracks the desired firing angle. Once the residual error of the coarse correction settles inside 3 mrad, fine correction takes part to reduce the residual error to 10 rad. The residual error magnitude of the proposed mechanization was analysed for a moving target by perturbing the FSM model by 20% and zeroth order hold predictor with different combinations of angle tolerance and frame tolerance.
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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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Huang, Chin-I., and 黃勤鎰. "Controlling Constrained and Coordinated Robots by Using Adaptive, Sliding-Mode, and Passivity-Based Methods." Thesis, 2000. http://ndltd.ncl.edu.tw/handle/11283845987027035825.
Full textAbstract:
碩士中原大學
電機工程學系
88
In this thesis, the motion and force control for asymptotic tracking of constrained robots and coordinated manipulators using adaptive, sliding mode and passivity-based methods is pro-posed. For constrained robots with joint flexibility, two strategies are employed. One method is to use a composite adaptive control plus backstepping method to obtain achieve zero mo-tion /force tracking errors. Another method is to use smooth sliding mode control plus back-stepping method to obtain good performance for flexible joint constrained manipulators under influence of disturbance. In robot control, the velocity measurement is often needed. Never-theless, under boundwidth consideration the velocity feedback has some disadvantages. Therefore, to avoid this a passivity-based observer and controller is designed. These strategies use the property of conceptual duality, i.e., the structure of controller and observer is similar can be switched with one another. The advantages of the proposed controller include its sim-ple structure and the design strategies are more easy and general. The simulation results show that the motion and force tracking errors converge to zero for both constrained and coordinat-ed robots.
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Lee, Chun-Mo, and 李君謨. "Control Design and Analysis of Uncertain Systems via Robust Sliding Mode and Complex Interval Matrix Methods." Thesis, 2005. http://ndltd.ncl.edu.tw/handle/49834705179149102142.
Full textAbstract:
博士國立成功大學
電機工程學系碩博士班
93
In the dissertation two topics are investigated regarding to the robust control theory. One topic is the design of robust controllers for sliding mode control systems. A linear matrix inequality technique is developed for the design of both sliding mode and reaching phase control laws. It is shown that by solving a set of LMIs, the switching surface can be designed such that the dynamics in the sliding mode achieve robust stability and bounded L2 gain performance with respect to matched and unmatched uncertainties in the presence of disturbances. Furthermore, a smooth reaching phase control law is presented to eliminate the undesirable chattering effect and maintain the robustness property all the time. Finally, a smooth observer based control law is developed to maintain the robust performance of a system in the case that not all of the states are accessible. In the second topic, a robustness analysis formulation, based on the structured singular value techniques, is proposed to study the stability problem of a complex interval matrix. Accordingly, explicit criteria for testing the Hurwitz stability of complex interval matrices, real interval matrices, complex interval polynomials and real interval polynomials are all constructed regarding to the proposed formulation. Besides, an application of complex interval matrices to the design of a control system is presented. Several simulations are given to illustrate the aforementioned design and analysis methods.