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According to the requirement of brushless direct current motor (BLDCM) control system for pure electric vehicles, a control system with TMS320F2812 was designed and realized. For this control system, the double closed-loop control method is used to regulate the speed and current. The speed regulation is controlled by sliding mode control. The PID control algorithm is adopted to control the current...
To solve the robot visual servoing problem in the natural scene, a robot visual sliding servoing method using SIFT features in the framework of epipolar-geometry-based visual servoing is proposed. Firstly, corresponding image feature points from the current image feature and the desired image are obtained by SIFT algorithm; Then the features error of the whole robot visual servoing system are calculated...
A new adaptive sliding mode indirect control system is proposed for trajectory tracking control of air cushion vessel (ACV). The two parts of the control system are tracking guidance control and course control. Fuzzy sliding mode control is used to design the tracking guidance control. Fuzzy logic is employed to output command course which eliminate the error of track. The course control firstly combine...
This paper presents an event-triggered sliding mode control (SMC) scheme for a class of uncertain stochastic systems over networks. System output is adequately sampled for further computation of a discrete-time event-trigger mechanism. Network-induced delays are described from event-trigger to controller. An event-driven zero-order-hold (ZOH) is employed to keep receiving and sending the delayed measurement...
A sliding mode control scheme incorporated with robust parametric approach is proposed for a class of second-order mechanical system subject to parameter uncertainties and unmodeled dynamics. The robust parametric approach is introduced to the design of sliding mode dynamics. Further, with considering parameter uncertainties and unmodeled dynamics, the finite time convergence in reaching phase is...
This paper addresses the problem of coordinated trajectory tracking control of multiple UUVs. In the proposed scheme, the leader-follower formation strategy which has a virtual global leader is adopted, and the formation task is achieved when the follower converges to the reference trajectory which generated by the position of the leader and the predefined formation. Then, a virtual guidance vehicle...
This paper presents a hybrid free-chattering non-singular terminal sliding mode (NTSM) control scheme for permanent-magnet synchronous motor (PMSM) speed vector system characterized by hierarchical speed/current structure and unknown load torque. A novel NTSM-like continuous sliding mode approach is proposed for desired finite-time convergence compared with that of super-twist and second-order NTSM...
We propose a boundary state feedback control law for a one-dimensional connected string equation with general external disturbance entering the control end. Sliding mode control is adopted for investigation. There are two steps: A sliding surface is first found so that the system on the sliding surface is exponentially stable; and then a variable structure feedback control is designed to satisfy the...
The problem of autonomous rendezvous with a non-cooperative spacecraft target is investigated in this paper. A fully nonlinear spacecraft rendezvous dynamical model is established in the line of sight coordinate frame, further, with considering the gravity difference term, the rendezvous system is modeled as an uncertain nonlinear system. As a stepping-stone, a second-order disturbance observer is...
In this paper, we present a novel nonlinear control scheme of three-phase pulse width modulation rectifier. The aim of this work is the application of the feedback linearization and sliding mode theory to the PWM converter. Firstly, the mathematical model of three-phase voltage source PWM rectifier in dq synchronous reference frames is established. The control system with double close-loops of outer...
An adaptive fast nonsingular terminal sliding mode control is proposed for synchronization of two chaotic gyros systems. The property of chaos is described with a set of simulation parameters for master gyro. With the fast nonsingular terminal sliding mode surface and adaptive control theory, a novel adaptive terminal sliding control for gyros systems is put forward, and the strict proof of stability...
In this paper, we have proposed a sliding mode control law with gain-scheduled and improved boundary layer for leader-follower based formation control. The switching gains of sliding mode controller are required to change with the absolute value of sliding mode function. Specifically, a larger switching gain should be adopted in order to ensure rapid convergence, while a smaller one should be adopted...
The article mainly concerns about the insufficient initial condition given for Caputo's definition. From this prospective, we explain why the semigroup property for factional order systems with Caputo's definition does not hold. Moreover, we find that if the system does not switch, the monotonic convergence of system output can be easily extended to fractional order case. Yet, when sliding mode control...
The paper discusses the slip control problem of a type of deep-sea mining vehicle (DSMV) which is driven by valve controlled hydraulic motors. The dynamics of the DSMV on a slope with a side angle is considered and the mathematical model of relationship between traction force and resistances is established for slip control purpose. A sliding mode control algorithm is proposed to decrease the slip...
A robust adaptive control strategy based on a sliding mode is designed for the motion synchronization of multiple flexible-joint robotic manipulators system with time delay. First, synchronization motion of the system is considered as constraint conditions and is simplified to the position/force control. Then the time delay is considered as a first-order and compensated by the controller. By utilizing...
In this paper, fixed-time control problem is addressed for nonholonomic mobile robot. By using cascaded control design method, the error dynamics of a mobile robot are divided into a first-order subsystem and a second-order subsystem. Firstly, in order to stabilize the angle error system of mobile robots, a fixed-time control law is designed. Secondly, a new fixed-time control algorithm is designed...
This paper focuses on the nonlinear control and control allocation issue for Electromagnetic Formation Flying satellites. Firstly, the exact electromagnetic force model and nonlinear relative motion model are introduced. Secondly, the authors present a sliding mode control for the relative translational control, which can achieve better performance in the presence of model uncertainties and external...
In this paper, the problem of the Super-twisting sliding mode control (ST-SMC) is concerned for the pitch control system of a remotely operated vehicle(ROV). A novel kinetic model of ROV's pitch motion is established by using stress analysis. The purpose of the addressed pitch control problem is to design a Super-twisting sliding mode controller to drive the state of the pitch angle control system...
The attitude controller and the navigation system of the quadrotor during landing phase are designed to realize the precision soft landing under external disturbance. Firstly, the mathematical model of the quadrotor with external disturbance is established based on the small angle assumption. Secondly, the quadrotor attitude controller based on L1-SMC theory is designed to resist the external disturbance...
This article presents a novel active steering control strategy with direct yaw moment control rather than the steering angle of the front wheels for electric vehicles with electric motored wheels to help the vehicle follow the ideal path when it is understeering. As a feature of this control strategy, the ideal path is acquired by the route planning system, which will be converted into the ideal yaw...
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