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This paper presents a new scheme for induction motor control. First the feedback sliding mode linearization control is applied to induction motor in order to separate the control of the rotor speed and flux square. Once the two physical outputs reach their reference, the machine control is performed by an H∞ controller. We detail, in this paper, how to design the H∞ controller to guarantee the robust...
This paper presents distributed hybrid sliding mode control (SMC) technique for a class of nonlinear mechanical systems. The proposed technique reduces observer-controller gains from classical output feedback SMC approach via reducing the level of parametric uncertainty. To this end, we distribute uniformly the compact set of unknown parameters into a finite number of smaller compact subsets. Then...
This work aims at developing tracking control algorithms based on sliding mode control (SMC) for the manipulation of electrostatically actuated parallel-plate MEMS. By this approach, stable full range operation with high performance is achieved, even in the presence of parametric uncertainties. Moreover, SMC allows employing simple actuation mechanisms by pure switching control signals, which is particularly...
A discontinuous time-invariant switching feedback control law is proposed to make the states of an underactuated surface vessel convergence to equilibrium point in finite time. After global diffeomorphism and input transformations, explicit formulas of the state feedback control law are respectively proposed for two subsystems based on global fast terminal sliding mode control strategy. Thus, the...
A sliding mode control is developed to solve the tracking control problem for an inertia wheel pendulum. The desired trajectory is centered at the upright position where the open-loop system becomes a non-minimum-phase system. As a first step towards the solution of the tracking control problem is the reference trajectory generation where we develop a reference model, based on the two-relay controller,...
This paper presents the solution to the tracking control problem for an underactuated scaled autonomous helicopter using variable structure control via output measurements. First, it is designed a state-feedback second order sliding mode controller to stabilize height and rotation positions. Controller is designed from a reduced model of the helicopter and the resulting control law is tested in its...
In this article, we propose a state-free discontinuous feedback controller design approach for the asymptotic sliding mode control of a large class of linear switched systems. The method is devoid of state measurements and efficiently extends the sliding mode control methodology to traditional input-output descriptions of the plant. The approach is based on regarding the average Generalized Proportional...
The paper deals with tracking problem for linear multiple-input multiple-output systems under unmeasurable smooth external disturbances. The step-by-step transformation procedure of initial system to block-canonical form of controllability and observability of the output (measurable) variables with regard for the external disturbances was developed based on the block approach. This form underlies...
The trajectory-tracking problem for mobile robots is considered. A finite-time tracking control algorithm based on variable structure is proposed. Two designed control laws are constructed to stabilize steering angle error and position errors in finite time based on state feedbacks. Involving in results about finite-time stability, we prove that the desired trajectory is attained fully in finite time...
While nonholonomic powered wheelchairs (NPWs) have made advances over the past three decades, the control algorithms remain virtually unchanged since 1980's. The simple proportional integral (PI) controller is antiquated, and does not perform well in the presence of disturbances, sensors uncertainties, nonlinearities and load variations. The practical interest is driven by the fact that today's wheelchairs...
A new method combining trajectory planning, tracking and coordinated control for unmanned surface vessels is presented based on nonlinear sliding mode control. A limiting factor of sliding mode tracking control is that it can only guarantee position tracking as long as the vessel initial conditions are on the desired trajectory. In this work, a transitional trajectory between the vessel initial condition...
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....
Control of pneumatic servo systems is well-known to be challenge due to highly nonlinearities in the actuator dynamics and compressibility of the media. Most state feedback based strategies for the pneumatic servo systems require full state feedback to stabilize the closed loop system which implies the need for pressure measurements of the cylinder. Many researchers used state observers to complete...
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