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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...
In this paper, sliding mode control (SMC) technique is used to control the speed of DC motor. The performance of the SMC is judged via MATLAB simulations using linear model of the DC motor and known disturbance. SMC is then compared with PI controller. The simulation result shows that the sliding mode controller (SMCr) is superior controller than PI for the speed control of DC motor. Since the SMC...
In this paper, an Estimator/Observer Swapping system is proposed, for the surface Permanent Magnet Synchronous Motor (PMSM), to overcome position observability problems at zero speed which is an unobservable state point. The designed observer based on Higher Order Sliding Mode (HOSM) is used in order to ensure the robustness against disturbances and to avoid the chattering phenomenon which is inherent...
A solution to trajectory-tracking control problem for a four-wheel-steering vehicle (4WS) is proposed using sliding-mode approach. The advantage of this controller over current control procedure is that it is applicable to a large class of vehicles with single or double steering and to a tracking velocity that is not necessarily constant. The sliding-mode approach make the solutions robust with respect...
Welding robots are seldom entirely autonomous, mainly because a robotic arm, integrated in an assembly line, produces better results. There are, however, situations, such as welding inside pipes, or in shipyards, where autonomous welding robots are really helpful. This paper presents integral and proportional integral sliding mode control techniques for controlling the speed of DC motors. Results...
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...
Induction Motors have been used as the workhorse in the industry for a long time due to its easy build, high robustness, and generally satisfactory efficiency. However, they are significantly more difficult to control than DC motors. One of the problems which might cause unsuccessful attempts for designing a proper controller would be the time varying nature of parameters and variables which might...
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...
In this paper, a dynamic obstacle avoidance strategy for mobile robots is proposed. The strategy consists of two key elements: an on-line reference generator and a control scheme to make the robot track the reference signals so as to reach a pre-specified goal point. To generate the online reference signals, a harmonic potential field for dynamic environments is exploited. The potential field is modified...
This paper proposes a nonlinear sliding mode speed control scheme for interior permanent magnet synchronous motor (IPMSM) drives. The drive uses an adaptive sliding mode observer for rotor speed estimation. Global asymptotic stability of both the controller and observer are guaranteed by Lyapunov stability analysis. Very low speed and standstill performance of the drive is further enhanced by combining...
The advantages of both structural simplicity and low resistance to movement are combined in passively articulated vehicles with independently powered wheels. The presence of the articulation in a vehicle enables it to move on straight or circular trajectories in the pure rolling mode, while the sliding mode motion may occur during the transition between the straight and the circular trajectory segments...
This paper demonstrates that invariant regulator and superior servo performance can be obtained, compared to fixed gain controllers, through sliding mode speed control of a decoupled induction machine. The speed control scheme consists of a standard indirect vector control implementation for torque control, with a sliding mode speed controller. Assuming the bounds on the parameter variations are known,...
This paper proposes a novel technique to estimate slips and velocities of an unmanned skid-steered vehicle. An optical flow-based visual sensor looking down the terrain surface is employed to recover the motion of the vehicle by tracking features selected from the terrain surface. The special orientation of the on-board camera is to assure high accuracy of the motion estimation. To cope with the noise...
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