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This paper presents a control strategy using Sliding Mode Control (SMC) and Repetitive Control (RC) for linear multi-input discrete-time systems to reject periodic and multi-periodic disturbances. A new reaching law is used to steer the system trajectories into the sliding surface and then keep them on it without chattering. The repetitive control is used to reject periodic and multi-periodic signals...
This paper presents a novel discrete-time quasi-sliding mode controller for the multiple-input multiple-output underwater vehicle system. First, according property of slow time-varying dynamics system, an on-line estimation method is used to eliminate the uncertainties of the underwater vehicle systems. Second, combined with the constant term and uncertainties estimation in the dynamics model, the...
This paper presents a discrete-time variable structure control based on neural networks for a planar robotic manipulator. Radial basis function neural networks are used to learn about uncertainties affecting the system. The learning algorithm combines the growth criterion of the resource allocating network technique with an adaptive extended Kalman filter to update all network parameters. The analysis...
This paper presents a single-axis trajectory generator for point-to-point motion control. Generated profiles are trapezoidal velocity that can “on-the-fly” modify system parameters such as the current destination, speed and acceleration without introducing any overshoots or fluctuations. Simulation results show that the proposed discrete-time and online calculation method guarantees finite step convergence...
This paper addresses a terminal sliding mode control method for nonlinear discrete time systems. A sequence of nonlinear sliding manifolds is designed. After the last one in this sequence is forced to the vicinity of the origin by a reaching controller, the rest are proved to stay bounded under the influence of a power rule. Allowing for the characteristics of discrete time sliding mode, the sizes...
This paper presents a discrete-time decentralized control scheme for identification and trajectory tracking of a two degrees of freedom (DOF) robot manipulator. A recurrent high order neural network (RHONN) structure is used to identify the plant model and based on this model, a discrete-time control law is derived, which combines discrete-time block control and sliding modes techniques. The neural...
This paper presents a discrete-time direct current (DC) motor torque tracking controller, based on a recurrent high order neural network (RHONN) to identify the plant model. Using this model, a control law is derived, which combines block control and sliding modes techniques. The applicability of the scheme is illustrated via real time implementation for a DC motor with separate winding excitation.
This paper deals with the discrete-time adaptive output trajectory tracking for induction motors in presence of bounded disturbances. A recurrent high order neural network structure is used to design a nonlinear observer and based on this model, a discrete-time control law is derived, which combines discrete-time block control and sliding modes techniques. The paper also includes the respective stability...
This paper presents a discrete-time decentralized control scheme for identification and trajectory tracking of a five degrees of freedom (DOF) robot manipulator. A recurrent high order neural network (RHONN) structure is used to identify the robot model, and based on this model a discrete-time control law is derived, which combines discrete-time block control and sliding modes techniques. The neural...
Designing of sliding mode variable structure controller for linear discrete uncertain time-delay singular system is studied. Firstly, a new restricted system equivalent form is developed and the system is decomposed into two low dimensional subsystems: one is a difference system without input; the other is a difference system with input. Secondly, under assumption that structural perturbation matrices...
In this paper, the design of variable structure control (VSC) for uncertain discrete systems with time-delays is considered. The original uncertain discrete system with time-delay is simplified to uncertain discrete system without time-delay. Using exponential reaching law, the reason of causing uncertain discrete system without time-delay chattering is given, and using boundary layer, an improved...
This paper presents a neural-network-based discrete-time variable structure control for a planar robotic manipulator. Radial basis function neural networks are used to learn about uncertainties affecting the system. The analysis of the control stability is given and the controller is experimentally evaluated on the ERICC robot arm. The experiments show that the proposed controller produces good trajectory...
Almost all of control methods proposed so far have been designed in the continuous-time domain. Actual systems, however, have been implemented in the discrete-time domain since MCU and/or microprocessors have been used for the control system, that is, the overall system turned to be a sampled-data system. In this case, the ultimate error cannot converge to zero in the actual system even though the...
Presents two reaching laws of sliding mode for discrete-time variable structure control systems to solve the problem in designing the system control input. Considering the system control input is restricted, the reaching laws proposed in this paper adopt the approach angle and the distance to the sliding surface to regulate the system control input properly. By applying the proposed reaching laws...
The paper presents the design of discrete-time chatter free sliding mode control for the two-time-scale full system using the slow subsystem. It has been shown that a sliding mode control designed for the slow subsystem gives similar performance for the full system. Also, the obtained state feedback based control is converted into output feedback based control using fast output sampling approach....
The design of discrete-time variable structure control (VSC) with discrete sliding mode for switching converters is presented in this paper, discrete time quasi sliding mode control systems are considered, the reaching law satisfied conditions of the definition are proposed and applied to the design of appropriate control strategies which drive the state of the controlled system to a band around the...
In this paper we deal with robust finite-time output regulation problem for linear and nonlinear systems driven by exosystems with uncertain disturbances. Unlike most of the existing results, the exosystem is nonautonomous and involves bounded unmodeled uncertainties. A design method of variable structure controller is presented and it is shown that the global robust finite-time output regulation...
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