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The underwater vehicle control has two problems to deal with; parametric uncertainty and unknown disturbance. Sliding Mode Control (SMC) effectively addresses these issues and is therefore a viable choice for controlling underwater vehicles. On the other hand, this method is known to be susceptible to chatter, which is a high frequency signal induced by the switching control. In this paper a new control...
In this study, the synchronization of chaotic neural networks with time-varying delay is developed based on parameter identification and sliding model control. Under the framework of master/slave chaotic neural networks, recurrent neural network, is developed to accommodate the on-line synchronization, which the weights of the neural network are iteratively and adaptively updated through the error...
Since the twin-roll strip casting process has the properties of nonlinear uncertainty and time-varying characteristics, it is difficult to establish an accurate process model for designing a model-based controller to monitor the strip quality. In this paper, a model-free adaptive radial basis function sliding-mode controller is developed to overcome this problem. The proposed control strategy is based...
In this paper, a coordinated decentralized state-feedback model reference adaptive control with a sliding mode is developed for a class of large-scale systems with time-varying delays in the nonlinear interconnections. The design procedure is based on the concept of reference model coordination. A novel decentralized controller parametrization that is robust to unknown information exchange delays...
The impact of resistance forces on train operation performance becomes increasingly significant as the train speed increases, thus should be explicitly addressed in developing control schemes for high speed train systems. This paper presents a smooth VSC approach for automatic train speed and position tracking control under varying operation conditions. In contrast to most existing methods that either...
Aimed at tracking precision of a certain electromotive power loading simulator for actuator with uncertainties and external disturbance, a new design approach of an adaptive fuzzy sliding mode controller (AFSMC) for nonlinear systems with mismatched time-varying uncertainties is presented in this paper. An adaptive parameters adjuster and fuzzy control rules are introduced into the sliding mode controller...
The problem of decentralized robust model following is considered for a class of uncertain large scale systems with time-varying delay interconnections. It is assumed that the upper bounds of uncertainties and interconnections are unknown. For such unknown bounds, a modified adaptation law is proposed. By combining a sliding mode controller with the adaptation law, we construct a decentralized adaptive...
In this paper, we consider the model reference adaptive control (MRAC) problem of switched linear systems in which the parameters and switching time instants are all unknown. We apply the output feedback variable structure (VS) based adaptive controller to switched linear systems with general relative degrees and show error convergence and signal boundedness properties by multiple Lyapunov functions...
A new model reference direct adaptive sliding mode control (MRDASMC) approach for electromechanical actuator (EMA) is presented. Uncertainties with parameter variation, external load disturbance, nonlinear structure and unmodelled dynamics in the system are treated as a lumped uncertainty. The lumped uncertainty is estimated without the bounds known in advance. A switching function is employed to...
In this paper the problem of path following control of autonomous vehicles subject to sliding is addressed. First a kinematic model is built which takes sliding effects into account by introducing two additional tire sliding angles. Since the tire sliding angles cannot be directly measured by sensors, an adaptive robust Luenberger observer is designed. With this observer, the tire cornering stiffness...
Accurate control of high-speed mobile robots moving off-road constitutes a challenging robotic issue: numerous time-varying dynamic phenomena (and first of all, sliding effects) are no longer negligible and must explicitly be taken into account in control design, in order to ensure high accuracy path tracking. Since these phenomena are hardly measurable at a reasonable cost, they have to be estimated...
In the face of large scale parametric uncertainties, the existing single model (SM)-based sliding mode control (SMC) demands high controller gains to achieve good transient tracking performance. The main practical problem of having high-gains based design is that it amplifies the input and output disturbance as well as excites hidden unmodeled dynamics causing high-frequency switching and infinitely...
In this paper, we discuss the model reference adaptive control problem of switched linear systems with unknown parameters. Since we do not have information about the system parameters nor the possible abrupt changes of parameters, conventional integral adaptive law do not function well for switched systems. We propose a variable structure based adaptive controller to the switched system and show error...
DC-DC converter is a class of variable-structure nonlinear time-varying systems, conventional control algorithm is difficult to achieve satisfactory steady and dynamic performance. Taking buck converter as a study object, this paper realizes an adaptive controller for DC-DC converter by online estimating the input equivalent disturbance caused by its inaccurate parameters by use of strong tracking...
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