Дисертації з теми "Sliding mode method"
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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.
Повний текст джерелаWang, 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.
Повний текст джерелаEllis, Joshua Randolph. "Modeling, Dynamics, and Control of Tethered Satellite Systems." Diss., Virginia Tech, 2010. http://hdl.handle.net/10919/26456.
Повний текст джерелаPh. D.
Dai, Min. "Control of power converters for distributed generation applications." Connect to resource, 2005. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=osu1124329850.
Повний текст джерелаChen, 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.
Повний текст джерелаHaskara, 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.
Повний текст джерелаHaskara, ?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.
Повний текст джерелаHaskara, 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.
Повний текст джерелаAcarman, 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.
Повний текст джерелаSellami, 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.
Повний текст джерелаThe 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
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.
Повний текст джерелаThis 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.
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.
Повний текст джерелаNonlinear 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
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.
Повний текст джерелаThis 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.
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.
Повний текст джерелаRao, 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.
Повний текст джерелаKreutzer, Ulf [Verfasser]. "Ein Beitrag zur Regelung elektrischer Maschinen mittels der Sliding-Mode-Methodik / Ulf Kreutzer." Aachen : Shaker, 2011. http://d-nb.info/107152822X/34.
Повний текст джерелаMcGookin, 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/.
Повний текст джерелаVallot, 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.
Повний текст джерелаZatloukal, 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.
Повний текст джерелаChang, 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.
Повний текст джерела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.
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.
Повний текст джерела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.
林肇輝. "An improved method for tracking problem by using sliding mode control technique." Thesis, 2000. http://ndltd.ncl.edu.tw/handle/51602208739641531989.
Повний текст джерелаDeng, 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.
Повний текст джерела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.
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.
Повний текст джерела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).
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.
Повний текст джерелаLie, 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.
Повний текст джерела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.
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.
Повний текст джерела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.
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.
Повний текст джерела(8967548), Hikmet Duygu Ozdemir. "EVALUATION OF MODEL PREDICTIVE CONTROL METHOD FOR COLLISION AVOIDANCE OF AUTOMATED VEHICLES." Thesis, 2020.
Знайти повний текст джерела(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.
Повний текст джерелаIn 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.
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.
Повний текст джерела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.
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.
Повний текст джерела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.
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.
Повний текст джерела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.
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.
Повний текст джерела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.
(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.
Повний текст джерелаIn 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.
Samantaray, Swastik. "Robust Adaptive Control of a Laser Beam System for Static and Moving Targets." Thesis, 2016. http://hdl.handle.net/2005/3204.
Повний текст джерелаShang-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.
Повний текст джерела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.
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.
Повний текст джерела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.
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.
Повний текст джерела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.