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In this paper, the finite-time boundedness (FTB) problem of sliding mode control (SMC) is investigated for a class of switched delay systems subject to uncertain parameter and nonlinear perturbation. A SMC law is constructed to drive the state trajectories onto the integral sliding surface during a finite time interval. The FTB of the controlled systems on both reaching phase and siding motion phase...
Constant-Power Load (CPL) introduces destabilizing effect to dc-dc converters, which may lead to voltage oscillation or collapse. To mitigate the destabilizing problem brought by CPL, a nonlinear boundary controller is proposed in this paper, which has a nonlinear switching line. The converters' dynamics on the state space plane is analyzed through phase portrait. The proposed controller is verified...
Ship course control is representative marine application which has attracted considerable attentions from control community. In this paper, the ship course control algorithm is proposed based on differential flatness and sliding mode technique. The states and control input are firstly represented by the flat output and its derivatives. In order to enhance the robustness against external disturbances...
The problem of the state tracking over a finite-time interval is concerned in this paper. Based on the average dwell-time method, both matched and unmatched cases are considered in the system. To make the state tracking error is finite-time bounded and the considered system achieves a weighted H∞ performance for the exogenous disturbance, the switching law is designed by the states error. Sufficient...
This paper presents nonlinear robust trajectory tracking strategies for the hypersonic vehicle whose ailerons are stuck at an unknown angular position. Firstly, a time-varying sliding mode control strategy for general second-order systems is introduced, and the chattering of sliding mode controller is alleviated. Secondly, the dynamics of hypersonic vehicle are transformed into two second-order systems...
Physical human-robot interaction is one of the hottest topic in robotics and safety issues are its fundamental aspect. The present paper contributes to this aspect in that collision detections can be completed on the servo level in an intuitive way. The principle of the proposed collision detection strategy is based on the relative difference of the feedback commanded torque, which is able to identify...
This paper presents a sliding mode hybrid impedance controller for complex interaction tasks. For easily implementing the scheme in embedded system, it is developed in discrete difference format. The hybrid impedance control is adopted since it is capable for both target impedance and force tracking. Then, the equivalent control based sliding mode control is introduced for robust to external disturbance...
Isolated grid-connected inverters are typically constructed of two stages, namely a voltage-source inverter stage and an isolated bidirectional dc-dc converter stage. Recently, two dual-bridge isolated series resonant dc-dc converters are used to synthesize segments of the line current and reconstruct the complete sinusoidal line currents using a three-phase unfolder. The unfolder technique synthesizes...
Sliding mode control (SMC) design technique is a well-known control design method to cope with disturbance and uncertainty. This paper considers a new sliding model design technique for a class of second-order systems which are acted by friction force. Comparing to the global sliding model design technique, it designs the sliding mode for a specific sliding region. Outside the sliding region, the...
This paper investigates the problem of stabilization for switched affine neural networks with a sampled-data switching rule. the sampling interval may be variable and uncertain. The switching law is considered as a function of the system state at sampling instants. The single and multiple Lyapunov function methods are employed to design the switching rule respectively. Sufficient conditions are given...
Direct model predictive control (MPDxC) appears to be a strong candidate for high-power applications, because it can achieve very low switching frequencies and keep variables of concern, such as power, current, torque and flux, within specified bounds. The width of bounds is observed to regulate THD of a current when MPDxC is used for controlling the current. This paper describes mathematically the...
Many control methods have been proposed for powered prosthetic legs, ranging from finite state machines that switch between discrete phases of gait to unified controllers that have a continuous sense of phase. In particular, recent work has shown that a mechanical phase variable can parameterize the entire gait cycle for controlling a prosthetic leg during steady rhythmic locomotion. However, the...
This paper addresses sliding mode controller design for networked control systems subject to packet loss. Possible packet loss in both transmission channels from the sensors block to the controller block and from the controller block to the actuation block are considered. A dynamic compensator is proposed. It is shown that sliding mode in mean square sense can be achieved and the closed loop control...
A combination of two switching surfaces for the sliding-mode control of a boost converter feeding a constant power load is presented. It allows the converter start-up with small inrush current and permits the output voltage regulation by minimizing the effect of external perturbations on the steady-state operation. The resulting sliding-regime for each switching surface is analyzed and the conditions...
In this paper, the problem of iterative learning control is considered for a class of switched singular systems. And the considered switched singular systems with arbitrary switching rules are operated in a fixed time interval repetitively. Based on the singular value decomposition method, the switched singular systems are transformed into the switched differential-algebraic systems. Then an iterative...
We describe a switched-gain control (SGC) technique for improving the settling time and peak overshoot of phase-locked loops (PLLs). We improve upon previous work by designing the controller to work with time-varying inputs, such as linear phase ramps in PLLs. We then develop circuits to implement the resulting control laws. Our results are supported by transistor-level simulations in a 0.18μm CMOS...
The problem of parameters identification is solved by means of the combined maximum principle. Its use allows one to decompose the original system into subsystems for each of the observed state variables. The first stage of solving the extremal problem is to solve the structural synthesis problem. Within its framework there are causal characteristics leading to the state changes. They are treated...
The design of sliding mode variable structure control (SMVSC) for discrete time systems with uncertainties is discussed by discrete reaching law in this paper. The reason of causing chattering is given and a discrete reaching law with border lay is developed. Gray model estimation is built for the uncertainty items and the values of parameters are obtained. The reaching time is reduced by the proposed...
Human dynamics are investigated for deployment of picocell in cellular network in this paper. Human dynamics may lead to variation of channel condition, e.g., moving fast or slow, driving in a mega city or in a countryside may change channel conditions. The data delivery throughput depends on user distribution, commuting trajectory, and Internet access regularity. Effectiveness of frequency reuse...
We address the problem of finding useful invariant funnels for dynamic walking robots, i.e. sets of initial conditions from which continued walking in a stable manner is guaranteed. The construction is based on transverse dynamics and sum-of-squares verification. This paper makes two main contributions: firstly, we show that for typical models of walking robots the construction of such funnels can...
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