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The mobile communication network studied here consists of a group of agents which move in response to external commands to perform a data-gathering task. As these agents move, connectivity of their communication network may be disrupted, preventing data transmission. Higher-Order Sliding Mode (HOSM) observers are used to reconstruct the external commands, from which future positions of the agents,...
We present preliminary results on exact stability of hierarchical high order sliding mode (HOSM) controlled systems with smooth perturbations. We solve the exact tracking control problem for triangular systems of second order hence, our results are a starting point for backstepping HOSM control. The approach is based on the so-called quasi-continuous high order sliding modes algorithm however, we...
Current real-time applications should timely deliver synchronized data-sets, minimize latency in their response and meet their performance specifications in the presence of disturbances and faults. The adaptive features of the designed controller are present at the lower control level using specific artificial intelligence techniques. Fuzzy inference system design is the fundamental element to generate...
Trajectory-tracking is an important behaviour for mobile robots. This paper addresses the nonlinear sliding-mode trajectory-tracking control problem for a four-wheel-steering vehicle (4WS). 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....
A hybrid control algorithm is proposed based on a backstepping kinematic control and a PID sliding mode dynamic control with an adaptive neural network adjust gain of sliding mode control for trajectory tracking control of nonholonomic mobile robot. Parameters and non-parameter uncertainties of mobile robot can be solved by using the robust control which takes advantages of stability and robustness...
The aim of this paper is to estimate the capacitor's voltages by tacking the hybrid behavior of the multicellular converter into account. A nonlinear finite time observer is given in order to solve this problem. The stability and properties of the proposed homogeneous finite time observer are studied using Lyapunov theory. Our approach enables the stabilization of the observation errors in spite of...
In this paper, time-delay effect on continuous approximation of sliding mode control (SMC) systems is studied in depth. The switching band that bound the zigzagging behaviors due to control switching around the switching manifold is constructed. Robust control theory is employed to develop a sufficient condition for the asymptotical stability of the system. Simulation is conducted to verify the theoretical...
We propose a computational-oriented perspective within the study of discontinuous chaotic systems, and provide insights into the modelling, control and simulation of chaotic systems with switching dynamics. In particular, the Lorenz system in its piecewise-linear version is studied. This system is reinterpreted within the hybrid-automaton framework, and what is referred to as the Lorenz hybrid automaton...
The new method of the control design for the time delayed system is presented. It is based on combination of the well-known predictor based sliding mode control algorithm and the recently developed invariant ellipsoid method, which allows to minimize the effects of the system uncertainties and disturbances. The theoretical results are illustrated by a numerical example.
Most known high-order sliding mode controllers are homogeneous. Homogeneous high-order sliding modes are shown to be robust with respect to the presence of fast stable actuators and sensors, small model disturbances changing the relative degree, measurement noises and control delays. Computer simulation confirms the theoretical results.
This paper considers the finite-time stabilization problem for an integrator chain in the context of uncertain measurement nonlinearities, such that the signs of the state variables are the only available information for feedback. The solutions of this problem are known for single, double, and triple integrators. The main result of the present paper is a higher-order sliding mode (HOSM) controller...
In the present paper, preliminary results towards the generalization to the infinite-dimensional setting of some known robust finite-dimensional control algorithms are illustrated. The main focus of the present paper is on the rejection of non-vanishing external disturbances. The generalization to the infinite-dimensional setting of some known finite-dimensional controllers, namely the “Power-fractional”...
A second order sliding mode controller, the so- called “Twisting” algorithm is under study. A non-smooth strict Lyapunov function is proposed, such that global finite time stability for this algorithm can be proved even in the case when it is affected by bounded external perturbations. The strict Lyapunov function gives the possibility to estimate an upper bound for the time convergence of the trajectories...
In this paper we introduce a modification to the classical Second-Order Sliding Mode Observer (SOSMO), used mainly for mechanical systems, and that consists in adding higher order nonlinear injection terms. Besides the usual finite-time con- vergence and exactness of the SOSMO, this new algorithm makes the convergence uniform with respect to the initial conditions, that is, the observation error reaches...
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...
The paper deals with twisting and super-twisting along with the discussion about the concept of “High Order Sliding Mode Control”. Lyapunov function is designed to demonstrate, first, asymptotic stability and then finite time convergence for the systems with bounded disturbances.
The paper studies sliding mode (SM) features in systems characterized by the presence of unmatched disturbances. Although it is possible to establish a SM in such systems, the unmatched part of disturbances has impact on the SM dynamics. Under these circumstances system trajectory does not converge to the origin but wanders in its neighborhood along the sliding manifold. This paper offers a sliding...
This paper addresses a general theoretical framework of optimal control problems (OCPs) associated with the conventional sliding mode dynamics. We deal with a class of constrained OCPs governed by nonlinear affine control systems and propose some numerically stable approximations to the sophisticated dynamical optimization problem. The above-mentioned structure of the state equations makes it also...
We analyze and simulate variable structure systems (VSS) in the framework of hybrid automata (HA). VSS combine different vector fields with logical decisions to fully describe the dynamics of a given system. On the other hand, HA are computational models that permit the definition of a set of discrete locations, each with its own difference/differential description, which are related thought transitions...
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...
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