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In this paper the reaching law approach to designing sliding mode controllers is used. In particular, the case of switching variable of relative degree r > 1 is considered. It is demonstrated, that the use of such a variable allows more freedom in designing the controller and can result in reducing the maximum absolute value of the control signal without compromising the robustness with respect...
This paper presents the analysis and design of an adaptive parameter estimator for power electronics circuits. Adaptive parameter estimation has been demonstrated to be a useful technique for enabling novel controls, monitoring, and fault diagnosis techniques in power electronics systems. We present an analysis of factors that affect the performance, stability, and feasibility of a gradient-type parameter...
This paper addresses the problem of repetitive control for systems in which the reference input is a periodic signal, with known a period. The sliding mode repetitive controller based on switching-function dynamics is designed to eliminate the disturbances with the same period. In exponential reaching law, the sign function is replaced with power item to decrease chattering and a measure of disturbance-rejection...
Sliding mode control is a well-known regulation method that allows to obtain good robustness with respect to disturbances and model uncertainties. The use of a time-varying sliding hyperplane allows to select its starting position to cross the initial conditions of the system, and then move it toward the desired state. In this way, the sliding mode can be enforced for the whole control process. This...
DC-DC converters have been receiving great attention for their extensive use in a myriad of applications starting with basic calculators to photovoltaic systems to sophisticated weaponry. Several control methods were developed for DCDC converters control mostly with asymptotic convergence. Synergetic control are a proven robust controllers approach and will be used here in a so called terminal scheme...
A novel autotuning procedure is presented through application to an industrial in-line pH control system. The procedure has three advantages over classical relay auto-tuners: experiment duration is very short (no need for limit-cycle convergence); all data is used for identification (instead of only peaks and switch instances); a parameter uncertainty model is identified and utilized for robust controller...
In order to improve convergence rate while retaining smooth control action soft Variable Structure Control (VSC) can be considered. The classical formulation of soft VSC in continuous time domain assumes smooth switching among an infinite number of controllers. In now commonplace digital implementation changing the control structure is limited to sampling instances, leading to a quasi-soft control...
This paper presents some further results on sliding mode control for a class of nonlinear systems with bounded uncertain parameters. A finite-time sliding manifold is proposed by incorporating piecewise defined function of time into the existing terminal sliding manifold, based on which a novel time-varying finite-time sliding mode controller is proposed. The proposed control strategy eliminates the...
The block diagram for a general average consensus estimator is developed and we show how this can be used to easily identify properties of the estimator. This structure is then used to design average consensus estimators which achieve exact average consensus for constant inputs, are robust to initial conditions and switching graph topologies, and are internally stable. Additionally, the estimators...
In this work the reaching law approach to the sliding mode control of discrete time systems is considered. We propose a reaching law, in which the convergence of the sliding variable to the vicinity of zero is governed by the inverse tangent function. First we analyze the case of the unperturbed system, and then we consider a second scenario with unknown disturbances and parameter uncertainties. We...
Switched Ethernet has been used widely in industrial applications because of its high speed and deterministic characteristics. This paper proposes an enhanced network recovery (ENR) scheme based on switched Ethernet to handle network failures in the naval combat system. In this study, network failure recovery is explained through message scheduling on switched Ethernet, which is based on previous...
This paper proposes an adaptive filtering system where a least-square algorithm and a stochastic gradient algorithm are alternately switched depending on its operational mode. The switching mechanism is quite simple and realized with a small amount of computational cost. Several numerical examples show that the resulting filter could achieve both sufficiently fast convergence and enhanced robustness...
Developing the perfect SLAM front-end that produces graphs which are free of outliers is generally impossible due to perceptual aliasing. Therefore, optimization back-ends need to be able to deal with outliers resulting from an imperfect front-end. In this paper, we introduce dynamic covariance scaling, a novel approach for effective optimization of constraint networks under the presence of outliers...
In this paper we consider the reaching law approach to the quasi-sliding mode control of discrete time systems. We analyze one of the most popular reaching laws which involves constant plus proportional decrease rate of the switching variable, and we propose a new version of this reaching law with the proportional part appropriately scaled. In our work the proportional part is scaled by a factor which...
Given a set of autonomous discrete-time LTI systems, one element - the current mode - is active. A number of agents identified to the nodes of a directed graph have different incomplete observations of the system's state, partial knowledge of the system's parameters and no knowledge of the initial state. A distributed scheme based on local communication among agents is studied to identify the current...
Current SLAM back-ends are based on least squares optimization and thus are not robust against outliers like data association errors and false positive loop closure detections. Our paper presents and evaluates a robust back-end formulation for SLAM using switchable constraints. Instead of proposing yet another appearance-based data association technique, our system is able to recognize and reject...
An arbitrary order differentiator that, in absence of noise, converges to the true derivatives of the signal after a finite time independent of the initial differentiator error is presented. The only assumption on a signal to be differentiated (n − 1)-times is that its n-th derivative is uniformly bounded by a known constant. The new differentiator is obtained by combining the HOSM differentiator...
This part of the paper investigates a robust consensus problem for continuous-time multi-agent systems with time-varying communication graphs and weight functions. Convergence rates are presented explicitly with respect to L∞ and L1 norms of disturbances. Sufficient and/or necessary connectivity conditions are obtained for the system to reach robust consensus or integral robust consensus.
This work is concerned with the design of an observer for Switched Linear Systems (SLS) subject to an unknown switching signal. The convergence of the proposed SLS observer is proved, based on observability results for SLS, for the following two cases. First, it is shown that if the discrete state of the SLS is observable, then the observer estimates the switching signal, even though the individual...
It is envisioned that in IPTV services will be run on the top a heterogeneous mix of network infrastructure. The existence of multi-mode terminals enable users get associated to the best available networks according to user preferences and application specific requirements. In this paper we study the user-centric service selection for IPTV services. We propose the user satisfaction function for video...
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