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Tesi sul tema "Sliding mode Control"

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Autore: Grafiati
Pubblicato: 4 giugno 2021
Ultima modifica: 28 luglio 2024

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1

Parisi, Aaron Thomas. "An Application of Sliding Mode Control to Model-Based Reinforcement Learning". DigitalCommons@CalPoly, 2019. https://digitalcommons.calpoly.edu/theses/2054.

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The state-of-art model-free reinforcement learning algorithms can generate admissible controls for complicated systems with no prior knowledge of the system dynamics, so long as sufficient (oftentimes millions) of samples are available from the environ- ment. On the other hand, model-based reinforcement learning approaches seek to leverage known optimal or robust control to reinforcement learning tasks by mod- elling the system dynamics and applying well established control algorithms to the system model. Sliding-mode controllers are robust to system disturbance and modelling errors, and have been widely used for high-order nonlinear system control. This thesis studies the application of sliding mode control to model-based reinforcement learning. Computer simulation results demonstrate that sliding-mode control is viable in the setting of reinforcement learning. While the system performance may suffer from problems such as deviations in state estimation, limitations in the capacity of the system model to express the system dynamics, and the need for many samples to converge, this approach still performs comparably to conventional model-free reinforcement learning methods.
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2

Sigfridsson, Jenny, e Josefin Frisk. "Robotstyrning med metoden Sliding Mode Control". Thesis, Linköping University, Department of Electrical Engineering, 2005. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-2813.

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The task in this thesis is the steering of one of Saab Bofors Dynamics robots using Sliding Mode Control, a method they never used before. The robot constitutes a system which in addition to perturbations and uncertainties due to modeling imprecision, hold the difficulty of being highly time variant. In order to be able to keep required performance with uncertainties and modeling imprecision present, the use of robust control methods like Sliding Mode Control is necessary. SMC is based on the states of the system being forced to stay on or in the direct vicinity of a hyper plane in the state space which is chosen in a way that gives the system dynamics desired properties. Other advantages with sliding mode are reduced order dynamics on the switching surface and total insensitivity to some uncertainties and perturbations. The existing metod for controlling the robot is Linear Quadratic Control. To evaluate the SMC-methodology and compare it with the existing solution simulations using SMC and LQ-control are made with uncertainties and modeling imprecision. Our tests show that a control law based on SMC is robust and seems to be a very good alternative to the existing solution.

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3

Shepit, Blaine M. "Mixed objective LQ/Sliding Mode Control". Thesis, National Library of Canada = Bibliothèque nationale du Canada, 2000. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape4/PQDD_0017/MQ49684.pdf.

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4

Venkataramanan, Ramanarayanan Middlebrook R. D. Ćuk Slobodan. "Sliding mode control of power converters /". Diss., Pasadena, Calif. : California Institute of Technology, 1986. http://resolver.caltech.edu/CaltechETD:etd-09222006-170253.

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5

Lee, Hoon. "Chattering suppression in sliding mode control system". Columbus, Ohio : Ohio State University, 2007. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=osu1192823756.

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6

Sangwian, Sirirat. "Multivariable Sliding Mode Control for Aircraft Engines". Cleveland State University / OhioLINK, 2011. http://rave.ohiolink.edu/etdc/view?acc_num=csu1315587541.

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7

Ebel, Kathryn C. "Adaptive Sliding Mode Control for Aircraft Engines". Cleveland State University / OhioLINK, 2011. http://rave.ohiolink.edu/etdc/view?acc_num=csu1323882562.

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8

Yan, Zhang. "Control and observation of electric machines by sliding modes". Columbus, Ohio : Ohio State University, 2002. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=osu1039227737.

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Thesis (Ph. D.)--Ohio State University, 2002.
Title from first page of PDF file. Document formatted into pages; contains xv, 156 p.; also includes graphics (some col.). Includes abstract and vita. Co-advisors: Vadim I. Utkin, Giorgio Rizzoni, Dept. of Electrical Engineering. Includes bibliographical references (p. 153-156).
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9

Chang, Hao-Chi. "Sliding mode control design based on block control principle /". The Ohio State University, 2002. http://rave.ohiolink.edu/etdc/view?acc_num=osu1486461246815228.

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10

Tiwari, Pyare Mohan. "Spacecraft attitude control using advanced sliding mode control techniques". Thesis, IIT Delhi, 2016. http://eprint.iitd.ac.in:80//handle/2074/8189.

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11

Reinsnes, Ståle E. "Stabilization of slugging by sliding mode control". Thesis, Norwegian University of Science and Technology, Department of Engineering Cybernetics, 2009. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-9958.

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The objective of this master thesis is to design, implement, and evaluate sliding mode control (SMC) applied to stabilize slugging using only the downhole pressure as measurement. The pros and cons of the resulting output-feedback sliding mode controller are to be evaluated against the conventional PI controller. The thesis is based on, and a continuation of the work and conclusions of my project thesis, where the conclusion was that the SMC might have a significant potential for increased oil production and recovery. The clear limitation was however the uncertainty regarding the validity of the van Der Pol model used, and the fact that the SMC was provided the real time-derivative states. Therefore the original main tasks of this thesis was to implement a high fidelity simulation model of severe riser slugging, and to design (and test) differentiators with the purpose of evaluating the output-feedback performance of the SMC. As it turn out that I was not able to achieve the task of stabilizing the pressure with SMC on the chosen OLGA model, the focus of this thesis has in agreement with my supervisors been changed quite a lot from the task requested in the project description. Possible reasons for the lack of results, and the chosen focus of the thesis is presented in the introduction chapter. The thereby chosen focus became the task of designing testing differentiators for the SMC, but with testing on the van Der Pol model. Before presenting and arguing for this change of focus in the section about task and limitation, the introduction chapter starts by giving a brief overview of the environment or setting the controlling challenge is a part of, and follows up by presenting the work and conclusion of that project thesis. In the end of the chapter, the structure of the thesis is shortly listed. The introduction is followed up by giving a further insight to the slug problematic. An overview of the historical development, and a description of some research within the field are provided. The last part of the chapter gives a quite thorough description on the riser slugging phenomenon. Thereby the sliding mode controller (SMC) is presented in chapter 3. The challenge concerning chattering is also discussed, and the approach of using boundary layer to suppress the chattering is introduced. In chapter 4, the empirical van der Pol based model is derived, and the model is augmented to use the valve rate as control input. Chapter 6 gives a discussion on why the SMC should be performed on the choke rate and not directly on the choke opening. This section also designs the SMC that will be used for testing, and the needed time-derivatives for testing the SMC are derived. The chosen main focus of this thesis is to evaluate if there is possible to design observers (differentiators) that meets the requirements for the designed SMC to stabilize slugging. The tests are performed on the van Der Pol model. This task is introduced through chapter 7, that present general observer theory, theory about using observers combined with SMC, and finally the two observers chosen for further testing; the high gain observer (HGO) and the robust high-order sliding mode differentiator (RHOSMD). The first stage in evaluating the HGO and RHOSMD is open loop testing, and is described in chapter 8. The observers perform well for the ideal case of no disturbance, but in the presence of measurement noise the conclusion is that estimations of the higher order time-derivatives do likely not meet the very demanding requirements of the SMC. The biggest problem is probably the time-delay of the estimation, but the correctness of the amplitude might also be a problem. In chapter 9 the observers was tested further in a SMC controlled closed loop system to get a more precise indication on how well the observers are fitted for their intended task of providing the SMC with the required estimations. As for the open loop tests, the 'isolated' estimation performance of the required states was considered, but the main focus was the performance of the output-feedback SMC compared to the performance of manual choking, the PI controller, and the performance of the state-feedback SMC. This chapter confirmed the assumption from the open loop testing that in presence of measurement noise, the observers is not able to meet the demanding requirements of the designed SMC. For the theoretical ideal case of no disturbance the results is very good, especially for the HGO. In the case of measurement noise, the RHOSMD perform slightly better. In both chapter 8 and 9, tuning is considered and discussed. However, since the conclusions of the observer testing is negative, the SMC is not tested further. The results will be negative for output-feedback testing, and a quite extensive state-feedback testing of the SMC is performed in the project thesis. The main results and conclusions throughout the thesis, are presented in chapter 10. The chapter also contain a short discussion where it is concluded that the alternative designs, SMC with direct choke rate control and SMC of the choke acceleration, will not be a solution on the state-feedback SMC problems described in this thesis. There is also a short discussion regarding CPU and system requirements for the observers and the controller. At the very end, further work is discussed.

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12

Bag, Sujit Kumar. "Robust sliding mode control using output information". Thesis, University of Leicester, 1997. http://hdl.handle.net/2381/30166.

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The thesis considers the development of robust output feedback sliding mode controllers for linear time invariant uncertain systems where output information alone is available to the controller. Two approaches to controller design are discussed. The first uses only the plant dynamics and is called static output feedback sliding mode control. It is shown that a quadratically stable sliding motion may be attained for a bounded uncertain system if and only if the system is minimum phase and a particular subsystem triple satisfies the output feedback design criteria. Sliding mode controllers are sensitive to unmatched uncertainty. Hence a robust design is considered which minimises the effect of uncertainty. The second approach is developed for systems which have design difficulties when only the plant dynamics are considered. Extra dynamics are added and the method is called dynamic output feedback sliding mode control. Closed-loop analysis is carried out and stability of the augmented system is observed. Both controllers guarantee a stable sliding motion despite the presence of bounded uncertainty. Finally, two practical uncertain multivariate industrial examples demonstrate the theoretical developments. The first application is a helicopter model. The open loop dynamics have unstable poles with two stable invariant zeros, variations in model parameters and exhibit high levels of cross coupling. A model following sliding mode controller is used to force the plant outputs to track the outputs of an ideal model. Nonlinear simulation results show the practicality of the method. The second application considers the dynamic output feedback sliding mode control of an aircraft model. The system possesses unstable invariant zeros and requires a dynamic output feedback technique. Simulation results are obtained at different operating points to show the effect of unstable invariant zeros. The examples illustrate the benefits of these robust output feedback based sliding mode control developments.
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13

Wang, Bin, e s3115026@student rmit edu au. "On Discretization of Sliding Mode Control Systems". RMIT University. Electrical and Computer Engineering, 2008. http://adt.lib.rmit.edu.au/adt/public/adt-VIT20080822.145013.

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Sliding mode control (SMC) has been successfully applied to many practical control problems due to its attractive features such as invariance to matched uncertainties. The characteristic feature of a continuous-time SMC system is that sliding mode occurs on a prescribed manifold, where switching control is employed to maintain the state on the surface. When a sliding mode is realized, the system exhibits some superior robustness properties with respect to external matched uncertainties. However, the realization of the ideal sliding mode requires switching with an infinite frequency. Control algorithms are now commonly implemented in digital electronics due to the increasingly affordable microprocessor hardware although the essential conceptual framework of the feedback design still remains to be in the continuous-time domain. Discrete sliding mode control has been extensively studied to address some basic questions associated with the sliding mode control of discrete-time systems with relatively low switching frequencies. However, the complex dynamical behaviours due to discretization in continuous-time SMC systems have not yet been fully explored. In this thesis, the discretization behaviours of SMC systems are investigated. In particular, one of the most frequently used discretization schemes for digital controller implementation, the zero-order-holder discretization, is studied. First, single-input SMC systems are discretized, stability and boundary conditions of the digitized SMC systems are derived. Furthermore, some inherent dynamical properties such as periodic phenomenon, of the discretized SMC systems are studied. We also explored the discretization behaviours of the disturbed SMC systems. Their steady-state behaviours are discussed using a symbolic dynamics approach under the constant and periodic matched uncertainties. Next, discretized high-order SMC systems and sliding mode based observers are explored using the same analysis method. At last, the thesis investigates discretization effects on the SMC systems with multiple inputs. Some conditions are first derived for ensuring the
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14

Edmonds, Shane. "Discrete sliding mode control of magnetic bearings". Thesis, National Library of Canada = Bibliothèque nationale du Canada, 2000. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape4/PQDD_0021/MQ49674.pdf.

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15

Sakurai, Atsuhiko. "Sliding mode control of switched reluctance motors". Thesis, National Library of Canada = Bibliothèque nationale du Canada, 2001. http://www.collectionscanada.ca/obj/s4/f2/dsk3/ftp05/MQ63026.pdf.

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16

Godwin, Bryan. "Discrete sliding mode control of drug infusions". Thesis, Georgia Institute of Technology, 1991. http://hdl.handle.net/1853/16806.

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17

Hamayun, Mirza Tariq. "Integral sliding mode fault tolerant control schemes with control allocation". Thesis, University of Leicester, 2013. http://hdl.handle.net/2381/28107.

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The key attribute of a Fault Tolerant Control (FTC) system is to maintain overall system stability and acceptable performance in the face of faults and failures within the system. In this thesis new integral sliding mode (ISM) control allocation schemes for FTC are proposed, which have the potential to maintain the nominal fault free performance for the entire system response, in the face of actuator faults and even complete failures of certain actuators. The incorporation of ISM within a control allocation framework uses the measured or estimated values of the actuator effectiveness levels to redistribute the control effort among the healthy actuators to maintain closed-loop stability. This combination allows one controller to be used in both fault free as well as in fault or failure situations. A fault tolerant control allocation scheme which relies on an a posteri approach, building on an existing state feedback controller designed using only the primary actuators, is also proposed. Retro-fitting of an ISM scheme to an existing feedback controller is advantageous from an industrial perspective, because fault tolerance can be introduced without changing the existing control loops. To deal with a wider range of operating conditions, the fault tolerant features of ISM are also extended to linear parameter varying systems. A FTC scheme considering only the availability of measured system outputs is also proposed, where now the feedback controller design is based on the estimated states. In each of the ISM fault tolerant schemes proposed, a rigorous closed-loop analysis is carried out to ensure the stability of the sliding motion in the face of faults or failures. A high fidelity benchmark model of a large transport aircraft is used to demonstrate the efficacy of the new FTC schemes.
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18

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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19

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 its parameters by means of solving the State Dependent Riccati Equations (SDRE) online during the control process. The two methods developed in this study: SDRE combined sliding control and the pure SDRE with bias terms are applied to a longitudinal model of a generic hypersonic air vehicle to compare the results.
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20

Marquart, Chad A. "Sliding-mode amplitude control techniques for harmonic oscillators". Texas A&M University, 2003. http://hdl.handle.net/1969.1/5767.

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This thesis investigates both theoretical and implementation-level aspects of switching- feedback control strategies for the development of voltage-controlled oscillators. We use a modified sliding-mode compensation scheme based on various norms of the system state to achieve amplitude control for wide-tuning range oscillators. The proposed controller provides amplitude control at minimal cost in area and power consumption. Verification of our theory is achieved with the physical realization of an amplitude controlled negative-Gm LC oscillator. A wide-tuning range RF ring oscillator is developed and simulated, showing the effectiveness of our methods for high speed oscillators. The resulting ring oscillator produces an amplitude controlled sinusoidal signal operating at frequencies ranging from 170 MHz to 2.1 GHz. Total harmonic distortion is maintained below 0:8% for an oscillation amplitude of 2 Vpp over the entire tuning range. Phase noise is measured as -105.6 dBc/Hz at 1.135 GHz with a 1 MHz offset.
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Yan, Wenguang. "Multilevel sliding mode control in hybrid power systems". Columbus, Ohio : Ohio State University, 2007. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=osu1172766787.

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22

Iliev, Boyko. "Minimum-time sliding mode control of robot manipulators /". Örebro : Örebro univ.-bibl, 2004. http://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-53.

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Samora, Arthur K. "Sliding mode control of motions of towed ships". Thesis, Monterey, California. Naval Postgraduate School, 1991. http://hdl.handle.net/10945/26771.

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Gamble, Jonathan B. "Sliding mode control of a proportional solenoid valve". Thesis, University of Bath, 1992. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.304385.

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Alsumiri, Mohammed. "Sliding mode control of renewable energy generation systems". Thesis, University of Liverpool, 2015. http://livrepository.liverpool.ac.uk/2014521/.

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As a result of decades of research and innovation in the renewable energy industry, advanced technologies have been developed for both wind and solar energy conversion systems. However, there are still some aspects of the systems that need to be enhanced to enable maximum and cost effective energy conversion. Wind is emerging as an alternative source for electrical power generation. Small-scale wind power generation system applications are becoming widespread because of rising fuel prices and the demand for reducing carbon emission. For such applications, vertical axis wind turbines (VAWT) appeal due to their ability to capture wind from different directions and their low noise-pollution. Wind energy and its conversion system are studied first. The need for advanced maximum power point tracking (MPPT) controllers is discussed in literature focusing on widely implemented algorithms. Sliding mode control theory has been studied and implemented in controlling wind power generation system (WPGS). The dynamic performance of the WPGS using sliding mode control has shown improved dynamic performance, overshoot errors eliminations and higher energy conversion ratios than the widely used proportional integral (PI) control. A new approach in WPGS control strategy by development of a novel soft control strategy based on the mathematical residue theorem has been introduced. The idea of using the residue theorem is to set a soft dynamic boundary for controlled variables around a reference point, so that controlled variables lie on a point inside this boundary. The stability of the system has been ensured by following the Forward Euler method. The developed control strategy has been implemented in different control techniques of a small-scale permanent magnet synchronous generator (PMSG) based WPGS. The introduction of the new control approach based on residue theorem has further improved the energy conversion ratio by 2:5%. Moreover, a wind speed estimation algorithm is provided and implemented to the proposed controllers to overcome the wind speed measurements issues, i.e. cost and accuracy. Furthermore, an improved back-EMF observer based on residual theorem has been designed to estimate the mechanical rotor speed of the PMSG using the stator current and voltage measurements. The improved back-EMF observer has overcome the well-known limitation of the classical back-EMF at low speed observation. In addition, the wind speed has been estimated using the calculated power obtained from the PMSG voltage and current measurements as well as the estimated rotor speed. Based on the wind and rotor speeds, the tip speed ratio (TSR) is calculated and controlled to its optimal value. A MPPT controller has been developed for photovoltaic power generation systems based on a sliding mode control scheme in stand-alone configuration. The developed controller provides a solution to atmospheric conditions measurement issues and it enhances the efficiency of the PV power system. In addition, the developed controller overcomes the power oscillation around the operating point which appears in most implemented MPPT techniques. The MPPT operation is achieved by regulating the input voltage of the PV system using DC-DC boost converter topology. Moreover, a single-ended primary inductor converter (SEPIC) topology has been employed in PV power systems. The restrictions on the application of SEPIC have been solved based on sliding mode control. The efficiency of the PV system has significantly improved.
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Jin, Changxi. "Sliding mode control and estimation of induction motors". Connect to resource, 1997. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=osu1157659298.

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Singh, Satnesh. "Discrete-time stochastic sliding mode control using functional observation". Thesis, IIT Delhi, 2019. http://eprint.iitd.ac.in:80//handle/2074/8122.

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Tahoumi, Elias. "New robust control schemes linking linear and sliding mode approaches". Thesis, Ecole centrale de Nantes, 2019. http://www.theses.fr/2019ECDN0056.

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Ce travail de thèse porte sur la conception des lois de commande pour des systèmes non linéaires, incertains et perturbés; ces lois de commande sont basées à la fois sur des approches par mode glissant, et sur des techniques linéaires. Les commandes par mode glissant (notamment d’ordre supérieur) sont connues pour leur robustesse face aux perturbations et incertitudes ainsi que pour leurs performances en terme de précision. Cependant, elles sont énergivores. Le retour d’état linéaire est connu pour être une commande lisse et à faible consommation d’énergie, mais il est très sensible aux perturbations et incertitudes. Le premier objectif de cette thèse est le développement de lois de commande présentant les avantages à la fois de la commande par mode glissant (robustesse et précision) et du retour d'état linéaire (faible consommation d'énergie). Le deuxième objectif est de montrer l’applicabilité des méthodes proposées aux systèmes physiques réels, notamment le banc électropneumatique de LS2N. Des applications sont également effectuées sur un système éolien
This work deals with the design of control laws for nonlinear, uncertain and perturbed systems based on sliding mode control and linear state feedback. Sliding mode control is known for its robustness versus perturbations and uncertainties as well as high accuracy tracking; however, it is high energy consuming. The linear state feedback is known to be a smooth control and low energy consuming, but it is highly sensitive to perturbations and uncertainties. The first objective of this thesis is the development of control laws that have the advantages of both sliding mode control (robustness and accuracy) and linear state feedback (low energy consumption). The second objective is to show the applicability of the proposed methods to real physical systems, notably the LS2N electropneumatic bench. Applications are also made on a wind system physical systems, notably the LS2N electropneumatic bench. Applications are also made on a wind system
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Kandil, Mohamed Salah. "Sliding mode control of active magnetic bearings with low losses : a model-free approach". Thèse, Université de Sherbrooke, 2016. http://hdl.handle.net/11143/10166.

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Abstract : Over the past three decades, various fields have witnessed a successful application of active magnetic bearing (AMB) systems. Their favorable features include supporting high-speed rotation, low power consumption, and rotor dynamics control. Although their losses are much lower than roller bearings, these losses could limit the operation in some applications such as flywheel energy storage systems and vacuum applications. Many researchers focused their efforts on boosting magnetic bearings energy efficiency via minimizing currents supplied to electromagnetic coils either by a software solution or a hardware solution. According to a previous study, we adopt the hardware solution in this thesis. More specifically, we investigate developing an efficient and yet simple control scheme for regulating a permanent magnet-biased active magnetic bearing system. The control objective here is to suppress the rotor vibrations and reduce the corresponding control currents as possible throughout a wide operating range. Although adopting the hardware approach could achieve an energy-efficient AMB, employing an advanced control scheme could achieve a further reduction in power consumption. Many advanced control techniques have been proposed in the literature to achieve a satisfactory performance. However, the complexity of the majority of control schemes and the potential requirement of powerful platform could discourage their application in practice. The motivation behind this work is to improve the closed-loop performance without the need to do model identification and following the conventional procedure for developing a model-based controller. Here, we propose applying the hybridization concept to exploit the classical PID control and some nonlinear control tools such as first- and second-order sliding mode control, high gain observer, backstepping, and adaptive techniques to develop efficient and practical control schemes. All developed control schemes in this thesis are digitally implemented and validated on the eZdsp F2812 control board. Therefore, the applicability of the proposed model-free techniques for practical application is demonstrated. Furthermore, some of the proposed control schemes successfully achieve a good compromise between the objectives of rotor vibration attenuation and control currents minimization over a wide operating range.
Résumé: Au cours des trois dernières décennies, divers domaines ont connu une application réussie des systèmes de paliers magnétiques actifs (PMA). Leurs caractéristiques favorables comprennent une capacité de rotation à grande vitesse, une faible consommation d'énergie, et le contrôle de la dynamique du rotor. Bien que leurs pertes soient beaucoup plus basses que les roulements à rouleaux, ces pertes pourraient limiter l'opération dans certaines applications telles que les systèmes de stockage d'énergie à volant d'inertie et les applications sous vide. De nombreux chercheurs ont concentré leurs efforts sur le renforcement de l'efficacité énergétique des paliers magnétiques par la minimisation des courants fournis aux bobines électromagnétiques soit par une solution logicielle, soit par une solution matérielle. Selon une étude précédente, nous adoptons la solution matérielle dans cette thèse. Plus précisément, nous étudions le développement d'un système de contrôle efficace et simple pour réguler un système de palier magnétique actif à aimant permanent polarisé. L'objectif de contrôle ici est de supprimer les vibrations du rotor et de réduire les courants de commande correspondants autant que possible tout au long d'une large plage de fonctionnement. Bien que l'adoption de l'approche matérielle pourrait atteindre un PMA économe en énergie, un système de contrôle avancé pourrait parvenir à une réduction supplémentaire de la consommation d'énergie. De nombreuses techniques de contrôle avancées ont été proposées dans la littérature pour obtenir une performance satisfaisante. Cependant, la complexité de la majorité des systèmes de contrôle et l'exigence potentielle d’une plate-forme puissante pourrait décourager leur application dans la pratique. La motivation derrière ce travail est d'améliorer les performances en boucle fermée, sans la nécessité de procéder à l'identification du modèle et en suivant la procédure classique pour développer un contrôleur basé sur un modèle. Ici, nous proposons l'application du concept d'hybridation pour exploiter le contrôle PID classique et certains outils de contrôle non linéaires tels que contrôle par mode glissement du premier et du second ordre, observateur à grand gain, backstepping et techniques adaptatives pour développer des systèmes de contrôle efficaces et pratiques. Tous les systèmes de contrôle développés dans cette thèse sont numériquement mis en oeuvre et évaluées sur la carte de contrôle eZdsp F2812. Par conséquent, l'applicabilité des techniques de modèle libre proposé pour l'application pratique est démontrée. En outre, certains des régimes de contrôle proposés ont réalisé avec succès un bon compromis entre les objectifs au rotor d’atténuation des vibrations et la minimisation des courants de commande sur une grande plage de fonctionnement.
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30

Ming, Qian. "Sliding Mode Controller Design for ABS System". Thesis, Virginia Tech, 1997. http://hdl.handle.net/10919/30598.

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Abstract (sommario):
The principle of braking in road vehicles involves the conversion of kinetic energy into heat. This high energy conversion therefore demands an appropriate rate of heat dissipation if a reasonable temperature and performance stability are to be maintained. While the design, construction, and location features severely limit the heat dissipation function of the friction brake, electromagnetic brakes work in a relatively cool condition and avoid problems that friction brakes face by using a totally different working principle and installation location. By using the electromagnetic brake as supplementary retardation equipment, the friction brakes can be used less frequently and therefore practically never reach high temperatures. The brake linings thus have a longer life span, and the potential "brake fade" problem can be avoided. It is apparent that the electromagnetic brake is an essential complement to the safe braking of heavy vehicles. In this thesis, a new mathematical model for electromagnetic brakes is proposed to describe their static characteristics (angular speed versus brake torque). The performance of the new mathematical model is better than the other three models available in the literature in a least-square sense. Compared with old models that treat reluctance as a constant, our model treats reluctance as a function of speed. In this way, the model represents more precisely the aggregate effect of all side effects such as degree of saturation of the iron in the magnet, demagnetizing effects, and air gap. The software program written in Matlab can be used to code different brake characteristics (both static and dynamic) and evaluate their performance in different road scenarios. A controller is designed that achieves wheel-slip control for vehicle motion. The objective of this brake control system is to keep the wheel slip at an ideal value so that the tire can still generate lateral and steering forces as well as shorter stopping distances. In order to control the wheel slip, vehicle system dynamic equations are given in terms of wheel slip. The system shows the nonlinearities and uncertainties. Hence, a nonlinear control strategy based on sliding mode, which is a standard approach to tackle the parametric and modeling uncertainties of a nonlinear system, is chosen for slip control. Due to its robustness properties, the sliding mode controller can solve two major difficulties involved in the design of a braking control algorithm: 1) the vehicle system is highly nonlinear with time-varying parameters and uncertainties; 2) the performance of the system depends strongly on the knowledge of the tire/road surface condition. A nominal vehicle system model is simulated in software and a sliding mode controller is designed to maintain the wheel slip at a given value. The brake control system has desired performance in the simulation. It can be proven from this study that the electromagnetic brake is effective supplementary retardation equipment. The application and control of electromagnetic brakes might be integrated with the design of vehicles and their friction braking systems so that an ideal match of the complementary benefits of both systems might be obtained to increase safety to a maximum while reducing vehicle operating costs to a minimum.
Master of Science
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31

Jiun-Fei, Shiu. "fuzzy sliding-mode control". 1998. http://www.cetd.com.tw/ec/thesisdetail.aspx?etdun=U0009-0112200611313631.

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32

Jiun-Fei, Shiu, e 許駿飛. "fuzzy sliding-mode control". Thesis, 1999. http://ndltd.ncl.edu.tw/handle/20770297998362157818.

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Abstract (sommario):
碩士
元智大學
電機與資訊工程研究所
87
Fuzzy logic controller is very suitable for multi-input multi-output (MIMO) nonlinear systems with controller which is complex and not easy realized by the classical design method. Several fuzzy sliding-mode control laws are proposed in this thesis. The fuzzy logic method is applied to reduce the chattering control signal in conventional sliding-mode controller. The problems in PI- or PD-type fuzzy logic controllers: (1) the stability on FLC; (2) the huge number of fuzzy rules, are solved. The proposed fuzzy sliding-mode controller design methods are applied to three practical systems; the pendulum systems, the robotic systems and the flight control systems. Simulation results demonstrate that the system performance is improved sufficiently and the stability and robustness properties are also possessed. Finally, the adaptive technique is added to fuzzy sliding-mode control to improve the system response by changing the sliding surface.
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33

He, Wei-Hua, e 郝維華. "Twin sliding mode control". Thesis, 1994. http://ndltd.ncl.edu.tw/handle/72517049133686183800.

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34

Kuo, Ya-Hui, e 郭雅惠. "Decoupled sliding mode control". Thesis, 1996. http://ndltd.ncl.edu.tw/handle/17274320754450893910.

Testo completo
Abstract (sommario):
碩士
國立中央大學
機械工程學系
84
A decoupled (fuzzy) sliding mode controller design is proposed.By introducing an intermediate variable z, we may decouple the wholesystem such that each sub-system has a separate control target expressedin terms of a sliding surface, and the information from the secondarytarget mediates the main target through the variable z in such a way thatwhenever the second target is not completed, the variable z interacts withthe sliding surface of the first target so that the sliding mode controllerbased on the first sliding surface will generate a control action to makeboth sub-systems move towards their sliding surface respectively. A closelyrelated fuzzy controller to the sliding mode controller is also presentedto show the theoretical aspect of the fuzzy approach in which thecharacteristics of fuzzy sets are determined analytically to ensure thestability and robustness of the fuzzy control.Lastly, the decoupled sliding mode control is used to control three highlynonlinear systems and confirms the validity of the proposed approach.
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35

"Networked Sliding Mode Control Systems". 2016. http://repository.lib.cuhk.edu.hk/en/item/cuhk-1292204.

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Abstract (sommario):
本论文以滑膜控制为工具，主要研究了两个问题。
•对有连续马尔科夫丢包的网络控制系统的滑膜控制。
我们首先选取Gilbert-Elliot通道模型来描述丢包之间的时间相关，并假设系统状态可得，提出了一个更新机制来选择滑膜控制器采用的系统状态。我们使用马尔科夫跳线性系统理论中的一项技术解决丢包产生的问题。具体包括：引入李雅谱诺夫函数，该函数的构造依赖于瞬时丢包的指示函数；在满足一组线性矩阵不等式的前提下，证明在均方意义下，推导出的滑膜控制器能够将系统状态轨迹带入之前我们设计的滑面的附近，且系统状态在之后的时间内一直保持在滑面临近区域内。最后我们给出了范例分析，表明了控制律的有效性。
然后，我们将Gilbert-Elliot通道模型扩展到一个广泛应用在无线通信系统中的更为普遍和准确的有限状态马尔科夫通道模型，来描述系统丢包之间的时间相关。我们推导出的滑膜控制器能够将系统状态轨迹带入设计的滑面的附近区域，并使系统均方渐进稳定。
实际上，丢包系统可看作有两个状态的马尔科夫跳系统。接下来，我们将问题一般化，研究马尔科夫跳系统的控制问题。
•对有部分未知转移概率的离散时间马尔科夫跳系统的滑膜控制。我们假设系统的未知转移概率是任意有界约束的。首先研究一类特殊的凸集——凸多面体。我们设计了一个积分形的滑面，通过线性矩阵不等式的方法,我们推导出滑膜控制律，在均方意义下将系统状态带入该滑面的临近区域。之后我们提出了一个等效控制律，保证系统状态在随后的时间内一直保持在滑面临近范围内，闭环系统渐进均方稳定。然后我们将凸多面体推广至一般的有界集,找到一个包含有界集的有界凸多面体，使其所有顶点满足一组线性矩阵不等式，得出稳定结果。最后给出了一些仿
最后，基于上述研究，我们进一步研究了有连续马尔科夫丢包且系统未知转移概率为凸多面体约束的离散时间马尔科夫跳系统的滑膜控制。结果表明闭环系统可抵抗丢包引起的不确定性，消除系统模式转变、不确定的系统参数以及外界干扰造成的不利影响， 达到渐进均方稳定。
This thesis mainly investigates two kinds of problems.
• The thesis presents the design of a sliding mode controller for networked control systems subject to successive Markovian packet dropouts.
First, the Gilbert-Elliott channel model is adopted to describe the temporal correlation among packet losses, and an update scheme is proposed to select the assumed available states for use in a sliding mode control law. A technique employed in the theory of discrete-time Markov jump linear systems is applied to tackle the effect of packet losses. This involves introducing a couple of Lyapunov functions dependent on the indicator functions of the instantaneous packet loss, and proving that the sliding mode controller is able to drive the system state trajectories into the neighborhood of the designed integral sliding surface in the mean-square sense given that the corresponding Lyapunov inequalities are satisfied. The system is guaranteed thereafter to remain inside the neighborhood of the sliding surface. Simulated case studies show that the control law can achieve asymptotic stability for discrete-time systems with either successive or single packet dropouts.
Then,the Gilbert-Elliott channel model is generalized to a finite-state Markov channel model, a more generic and accurate model widely used in wireless communication systems. Reachability and asymptotic mean-square stability of the system are ensured by the proposed SMC law.
• The thesis studies the design problem of a sliding mode controller for discrete-time Markovian jump systems subject to partially known transition probabilities. The unknown transition probabilities are assumed to be general constrained, and a special class of bounded sets-convex polytopes is concerned first. By using linear matrix inequalities (LMIs) approach, a sliding mode control law is derived to drive the system state trajectories towards the designed integral sliding surface in the meansquare sense. Next, an equivalent control law is proposed to ensure the system states to remain inside the neighborhood of the sliding surface thereafter, and the closed-loop system is asymptotically mean-square stable. Then the bounded convex polytope is generalized to ageneral bounded set. A bounded convex polytope can be found to cover the bounded set, and the reachability and asymptotic stability of the system are ensured if all the vertices of the bounded convex polytope satisfy a group of LMIs. Simulations are presented to illustrate the effectiveness of the control law.
Finally, based on the above results, further studies on sliding mode control for discrete-time Markovian jump systems with successive packet dropouts and convex-polytope constrained transition probabilities are carried out. The result shows under what
Song, Heran.
Thesis Ph.D. Chinese University of Hong Kong 2016.
Includes bibliographical references (leaves ).
Abstracts also in Chinese.
Title from PDF title page (viewed on …).
Detailed summary in vernacular field only.
Detailed summary in vernacular field only.
Detailed summary in vernacular field only.
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Detailed summary in vernacular field only.
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36

Yan, Wei Cheng, e 顏偉丞. "Grinding Force Sliding Mode Control". Thesis, 2002. http://ndltd.ncl.edu.tw/handle/03249426217193666616.

Testo completo
Abstract (sommario):
碩士
淡江大學
機械工程學系
90
This paper presents a multivariable Sliding Mode Controller (SMC) for control of the grinding force. There are two stages of the research procedure. Firstly, derive the sliding function according to the system specifications including the settling time of step response and the damping ratio of system. Secondly, design the sliding mode controller basing on the sliding function which is stable and converges to zero. The developed system is utilized to control the grinding torque applied by the hand-grinder. Sliding mode control has the advantage of small rise time of step response. However there is steady-state error in step response. An integral sliding mode control is proposed to eliminate the steady-state error. In the grinding process, a software observer is utilized to measure the applied torque. The measured signal is suffered from noise with high amplitude and high frequency because of the resolution of position encoder. A grey predictor is developed to filter the noise using as few as four input-output data. The experiment shows that the proposed filter can reduce the noise amplitude.
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37

LIN, QING-YAO, e 林清耀. "Adaptive sliding mode control systems". Thesis, 1992. http://ndltd.ncl.edu.tw/handle/90125959077689872073.

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38

Zheng, Da-Xin, e 鄭達新. "Adaptive fuzzy sliding mode control". Thesis, 1997. http://ndltd.ncl.edu.tw/handle/29633408501579642918.

Testo completo
Abstract (sommario):
碩士
國立中央大學
機械工程學系
85
A decoupled adaptive fuzzy sliding mode controller (DAFSMC) is proposed in this paper. The motivation behind this is to incorporate the best features of self-tuning fuzzy control and sliding-mode control with decoupled method to control an unstable 4-th order inverted pendulum system. The consequent parameters of the membership functions in the fuzzy rule base are tuned according to some adaptive algorithm so as to control the states of two subsystems, decoupled from the 4-th order system, to hit each user-defined sliding surface and then slide along it continuously. The initial IF-THEN rules in the DAFSMC can be randomly selected or roughly given by human experts, and then automatically tuned by a direct adaptive law, therefore, reducing the expertise dependency in the design procedure of fuzzy logic control. By applying the DAFSMC to control a nonlinear unstable inverted pendulum system, the simulation results show that the expected approximation sliding property was occurred, and the dynamic behavior of control system can be determined by the sliding surface. Finally, adaptive fuzzy sliding mode control is applied to control a 6-th order nonlinear system and confirms the validity of the proposed approach.
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39

Tseng, Chi-Wei, e 曾啟威. "Sliding Mode Control consider Control-Structure Interaction". Thesis, 1998. http://ndltd.ncl.edu.tw/handle/38579424377548315169.

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40

洪聯馨. "A multivariable sliding mode control for". Thesis, 1998. http://ndltd.ncl.edu.tw/handle/52346539929448976555.

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41

Chwan-Horng, Goan, e 管傳鴻. "Complete State Integral Sliding Mode Control". Thesis, 1999. http://ndltd.ncl.edu.tw/handle/87257380501949220404.

Testo completo
Abstract (sommario):
碩士
中原大學
電機工程學系
87
A complete state integral sliding mode control is proposed in this paper. The complete state means the whole process or response of the controlled state. The sliding mode that can occur from the very beginning is done through the combination of three steps, the proper choice of initial values in sliding functions, the linear state feedback, and the integral feedback of system dynamics. The proposed sliding mode can solve the robust problem of classical sliding mode control during the reaching mode in which the high gain feedback control is applied. Lyapunov’s method is used to ensure the existence of sliding surface and result in the design of relative control inputs. The stability analysis is perfectly improved through the redesign of control gains and the transform of the sliding functions. The proposed method is not only a simple control method, but also gives a generalized form in order to apply upon the systems that encounter uncertainties and need the reduction of perturbations and the assurance of stability from the very beginning. It can be applied either on linear or nonlinear systems. The simulations are performed for tracking control of a permanent magnetic synchronous motor drive system and a two-link manipulator. The results of simulations give illustrative examples that demonstrate expected satisfactory performances. The proposed method is not only of the lowest constraint of generalization, but also suitable to a wide scope of application areas including control in linear, nonlinear, single-input and multi-input systems. It can be utilized together with basic or conventional methodologies and gives choices of design methods for different control constraints or requirements. Integration of various control methods is just a good feature of that proposed.
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42

Li, Keh-Tsong, e 李克聰. "Uniformly Distributed Simplex Sliding-Mode Control". Thesis, 2005. http://ndltd.ncl.edu.tw/handle/14054369761815147802.

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Abstract (sommario):
博士
國立交通大學
電機與控制工程系所
93
This dissertation presents a novel control technology for multi-input systems, called uniformly distributed simplex sliding-mode control (UDSSMC), to deal with matched disturbances. The UDSSMC is mainly designed based on the uniformly distributed simplex set, which contains vectors of unit magnitude and distributed uniformly in the control space. Two approaches are proposed to obtain the uniformly distributed simplex set easily and directly. By employing the uniformly distributed simplex set, a new concise scheme is introduced to quickly determine the sub-region where the system trajectory currently stays and a specific smoothing strategy is presented to ameliorate the chattering problem caused by switching functions. Most importantly, it is theoretically shown that the upper-bounded matched disturbances can be eliminated by UDSSMC. Furthermore, a grey prediction is adopted to forecast the matched disturbances and thus no prior information concerning their upper bounds are required. Finally, the success of UDSSMC is demonstrated by the tracking control of robotic manipulators.
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43

Shy, Kuen-Yih, e 施昆毅. "Multi-variable Discrete Sliding Mode Control". Thesis, 2002. http://ndltd.ncl.edu.tw/handle/14276621274076315197.

Testo completo
Abstract (sommario):
碩士
淡江大學
機械工程學系
90
A Sliding Model Control (SMC) is proposed for the temperature control of the thermal barrel in plastic molding processes. Firstly, derive a linear approximate model for the thermal barrel and treat the nonlinear term as an uncertainty or noise. Usually this uncertainty is a matched noise corresponding to the input. Since the Sliding Mode Control is robust to a matched noise, it is appropriate to design a digital sliding mode controller for a nonlinear system. Secondly, time delay of heat transferred in the thermal barrel results in oscillation at the output temperature. A grey prediction control is proposed to solve the problem caused by the time delay. According to literatures, forward grey prediction control decreases the overshoot of step response; on the other hand, backward grey prediction control increases the response speed. Finally, an on-line self-tuning SMC is developed in this paper to prevent extra work on estimation of the system parameters. Meanwhile, the adaptation of the self-tuning SMC extends the application of the controller to a large parameter range. The developed system is applied to thermal control for a plastic molding machine. Two experiments including temperature step response and trapezoid curve following are tested to evaluate the performance of the proposed methodology.
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44

(9786986), Sze San Chong. "Sliding mode control of flexible robots". Thesis, 2002. https://figshare.com/articles/thesis/Sliding_mode_control_of_flexible_robots/13463570.

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Abstract (sommario):
"Robots are playing increasingly important roles in our lives. They are widely used in industries and in non-invasive surgeries. Robots also place satellites into orbits and do maintenance work outside the Space Station. At sea, remotely controlled mobile underwater vehicles are used in search and rescue missions. Robo-planes photograph enemy positions and transmit intelligence. Robots will also be clearing land mines and decontaminate polluted sites. Hence, robots are important in today's world. The aim of this thesis is to investigate the control of flexible robots. The objectives are to accurately position the payload at the tip of the arm and suppress vibrations of the links. As simulations were used in this study, different models for robots are first looked at. Next, the various control laws that are in use are studied. To overcome the shortcomings of these control laws, Terminal Sliding Mode Control and Sliding Mode Control used in combination with Linear Control are applied to control these flexible robots: the Mass Beam System, the Single Link Flexible Robot Manipulator and the Two Link Flexible Robot Manipulator. Results obtained show that finite time control of flexible robots can be achieved using the above mentioned control laws which have the added advantage that chatterings often present in conventional sliding mode control are absent when these forms of control are used. The thesis concludes with discussions on the contributions made and suggestions for further research."--Abstract
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45

Jiang, Jiunn Huei, e 江俊輝. "Nonlinear Sigma Adaptive Sliding Mode Control". Thesis, 1996. http://ndltd.ncl.edu.tw/handle/46878097310447826880.

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Abstract (sommario):
碩士
國立中山大學
電機工程研究所
84
In this paper, the Sigma Adaptive Sliding Mode Control (SASMC) which is combination of Sliding Mode Control (SMC) and sigma adaptive law for the nonlinear system is developed. The proposed SASMC for the nonlinear systems can overcome the drawbacks due to SMC. It can achieve a smaller mean tracking error than that of SMC, suppress chattering due to SMC, improve transient response due to modeling error, and reduce the gain of the controller. We will compare SASMC with SMC for specific nonlinear vector systems and scalar systems. The simulations and analyses will show that SASMC for the specific nonlinear systems can overcome the drawbacks resulting from the use of SMC.
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46

Venkataramanan, Ramanarayanan. "Sliding Mode Control of Power Converters". Thesis, 1986. https://thesis.library.caltech.edu/3700/3/venkataramanan-r-1986.pdf.

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Abstract (sommario):

Switched mode power converters are being used extensively for the purpose of efficient power conversion. Such converters are nonlinear, time variant systems. In the past such converters were being modelled using the state space averaging method. The theory of variable structure systems (VSS), and sliding mode control form a mutually complementary analysis and design tools for the control of switched mode power converters. The application of sliding mode control is presented for dc-to-dc converters and electrical motor drives in this thesis. The concept of sliding mode control is brought out through exhaustive examples of second order systems. The equivalent control, an analysis method of VSS, is applied to obtain transfer function description of dc-to-dc power converters. The sliding mode control is applied to the control problem of dc-to-dc power converters and speed controlled electrical drives to develop practical design techniques. The practical design methods are confirmed through experimental results.

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47

Cheng, Jui-Yang, e 鄭睿陽. "Backstepping Complementary Sliding Mode and Second Order Sliding Mode Control of Synchronous Reluctance Motor". Thesis, 2016. http://ndltd.ncl.edu.tw/handle/jc5c4w.

Testo completo
Abstract (sommario):
碩士
國立雲林科技大學
電機工程系
105
This thesis proposed three control algorithms of Backstepping Complementary Sliding Mode Control (BCSMC), Exponential Reaching Law of Backstepping Complementary Sliding Mode Control (ERL-BCSMC) and Second Order Complementary Sliding Mode Control (SOCSMC) on synchronous reluctance motor. The tracking error of Complementary Sliding Mode Control (CSMC) is chosen as the intersection of two different sliding surfaces which makes the system have good robustness and fast response. The backstepping control theory and exponential reaching law with complementary sliding mode control algorithm improved the convergence of the system. The switching control signal of the conventional CSMC used the sign function which caused serious chattering phenomenon. To improve the chattering phenomenon, a SOCSMC algorithm is designed by the derivative of the control signal which has the sign function switching control signal. Therefore, we can get a continuous real control signal by integration the derivative control signal. Using this method, it can reduce the chattering phenomenon.
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48

Yun-ChengHuang e 黃永政. "Study on Adaptive Fuzzy Terminal Sliding-Mode Control and Adaptive Terminal Sliding-Function Control". Thesis, 2011. http://ndltd.ncl.edu.tw/handle/87159422817603739324.

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49

"Stable, robust tracking by sliding mode control". Sloan School of Management, Massachusetts Institute of Technology], 1987. http://hdl.handle.net/1721.1/2992.

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Abstract (sommario):
George C. Verghese, Benito Fernández R. and J. Karl Hedrick.
Caption title.
Bibliography: leaf 12.
Supported, in part, by a grant from the U.S. Army Research Office DAAG29-84-K-0005 Supported, in part, by a grant from the National Science Foundation. ECS-83-12921
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50

Chiang, Hao-Ting, e 江浩霆. "Guidance Law Design: Sliding Mode Control Approach". Thesis, 2006. http://ndltd.ncl.edu.tw/handle/85795984026601012063.

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Abstract (sommario):
碩士
國立成功大學
航空太空工程學系碩博士班
94
In the previous time, most guidance law designs were chosen to be according to the line of sight rate, which is known as PNG law. The required missile maneuver command is calculated by means of the outer guidance loop alongside with the target information, which is transferred to the inner autopilot loop to change the control surface signal. The ideal performance may not be achieved since the real missile mathematical model is not anticipated in the outer loop in this framework, and the maneuver command may diverge as the line of sight rate changes suddenly when the target is very close. Based on ZEM obtained by means of integrated with missile mathematical model and integral-type sliding mode control, an integrated guidance law with smooth control signal and relatively low miss distance is proposed; the proposed guidance law neither has the chattering phenomena comparing with the conventional sliding mode design.
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