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sliding-mode control OF UNOERTAINTY BILINEAR SYSTEM

Transactions of Tianjin University 1999年第1期5卷 57-60页

作者：王海涛王先来李光泉天津大学电气自动化与能源工程学院天津大学管理学院

In this paper,the sliding-mode control of a bilinear system is studied. It improves the dynamicresponse of the closedweloop system around the original point and is rather robust to the bounded disturbance. At last,the... 详细信息

关键词： bilinear system sliding-mode control robustness

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Nonlinear sliding-mode control for Motion of a Spherical Robot

Nonlinear Sliding-mode Control for Motion of a Spherical Rob...

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第二十九届中国控制会议

作者： LIU Daliang 1,2,SUN Hanxu 3 1.Time Group Inc.Sub-station,Post-doctoral Workstation of Zhongguancun Haidian Science Park,Beijing 100085,P.R.China2.The College of Electric Engineering and Automation,Harbin Institute of Technology,Harbin 150001,P.R.China 3.School of Automations,Beijing University of Posts and Telecommunications,Beijing100876,P.R.China

In order to research the problem about the motion control of a spherical robot,using the constrained Lagrangian method the motion models with uncertainty items are developed,and the motion control strategies,including the lateral attitude controller and longitudinal velocity controller,are designed based on the nonlinear sliding-mode control *** controllers guarantee convergence of the controlled states to the desired ***,the structure and composition of the control system is described and analyzed in *** the purpose of the real-time and accurately measuring the motion states of the spherical robot,the arc odometer model and line odometer model are developed under the condition of the nonholonomic motion constrain,***,in order to verify the effectiveness of the presented strategies,the position control experiment of the spherical robot is introduced based on the path follow controller and the robust controllers presented in this *** experimental results show that the presented simplified motion model and motion control strategies based on the sliding-mode control method are feasible.

关键词： Spherical Robot sliding-mode control Nonlinear System

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Event-triggered sliding-mode control of linear uncertain system under periodic DoS attacks

Event-triggered sliding-mode control of linear uncertain sys...

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第32届中国控制与决策会议

作者： Lina Guo Bo-Chao Zheng Xiaoguang Liu School of Automation Nanjing University of Information Science and Technology CICAEET Nanjing University of Information Science and Technology Department of Navigation Dalian Naval Academy

In this paper,an event-triggered sliding-mode control is proposed for cyber-physical systems（CPS s） under periodic denial-of-service（DoS） *** conditions for the event-triggering mechanism is presented and then under the proposed event-triggered sliding-mode control law,the system state can reach sliding-mode in finite time and the system can be robust stabilization regardless of external uncertainties and the periodic attack of ***,the simulation results show the validity of the theory.

关键词： cyber-physical systems(CPSs) denial-of-service(DoS) event-triggered control sliding-mode control

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Gained switching-based fuzzy sliding mode control for a discrete-time underactuated robotic system with uncertainties

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Frontiers of Mechanical Engineering 2021年第2期16卷 353-362页

作者： Hui LI Ruiqin LI Jianwei ZHANG School of Mechanical Engineering North University of ChinaTaiyuan 030051China Department of Mining Engineering Lvliang UniversityLvliang 033001China Department of Informatics University of HamburgHamburg 22527Germany

This study proposes a gained switching-based discrete-time sliding mode control method to address the chattering issue in disturbed discrete-time systems, which suffer from various unknown uncertainties. Through the new structure of the designed reaching law, the proposed method can effectively increase the convergence speed while guaranteeing chattering-free control. The performance of controlling underactuated robotic systems can be further improved by the adoption of fuzzy logic to perform adaptive online hyper-parameter tuning. In addition, an underactuated robotic system with uncertainties is studied to validate the effectiveness of the proposed reaching law. Results reveal the dynamic performance and robustness of the proposed reaching law in the studied system and prove the proposed method’s superiority over other state-of-the-art methods.

关键词： sliding-mode control robot control discrete-time uncertain systems fuzzy logic

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A chattering-free sliding-mode control design and simulation of remotely operated vehicles

A chattering-free sliding-mode control design and simulation...

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2011 Chinese control and Decision Conference（CCDC）

作者： Daqi Zhu is with Laboratory of Underwater Vehicles and Intelligent Systems,Shanghai Maritime University,Shanghai,200135,China.Bing Sun is with Laboratory of Underwater Vehicles and Intelligent Systems,Shanghai Maritime University,Shanghai,200135,China.

sliding-mode control （SMC） is widely used in motion control of underwater *** the chattering problem in sliding mode control is the one of the most common handicaps for applying to real *** deal with the problem,a novel model-based chattering-free sliding-mode control law is proposed in this *** proposed sliding mode control method removes the chattering phenomenon by replacing a switching term with an adaptive continuous *** method is robust of the dynamic parameters uncertainty and disturbance focusing on *** obtained simulation results confirm the effectiveness of the proposed technique.

关键词： Remotely operated vehicles Dynamic model sliding-mode control Adaptive control

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Robust fuzzy sliding-mode control for T-S model based permanent magnet synchronous motor

Robust fuzzy sliding-mode control for T-S model based perman...

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2009年中国智能自动化会议

作者：张细政王耀南 School of Computer and Communication Hunan Institute of Engineering School of Electrical and Information Engineering Hunan University School of Electrical and Information Engineering Hunan University

A fuzzy sliding-mode control(FSMC) scheme based on T-S fuzzy models was proposed for the permanent magnet synchronous motor(PMSM) drive system to solve the speed tracking problem.A T-S fuzzy model was firstly formed to represent the nonlinear system of *** converting the tracking control into a stabilization problem,a new control design was proposed to define the internal desired ***,the FSMC controller for PMSM system with parameter variation and load disturbance was designed based on the fuzzy *** performance of the proposed controller was verified by experimental results on PMSM *** results show that the FSMC scheme can drive the dynamics of PMSM into a designated sliding surface in finite time and guarantee the property of asymptotical *** information of upper bound of modeling errors as well as perturbations is not required when using the FSMC controller.

关键词： permanent magnet synchronous motor(PMSM) uncertain T-S nonlinear systems sliding-mode control fuzzy sliding surfaces linear matrix inequalities(LMIs)

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Stabilization of a Class of Uncertain Chaotic Systems via Robust Adaptive sliding-mode control

Stabilization of a Class of Uncertain Chaotic Systems via Ro...

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第二十九届中国控制会议

作者： YANG Liang,YANG Jianying The State Key Lab for Turbulence and Complex Systems and Department of Mechanics and Aerospace Engineering,College of Engineering,Peking University,Beijing 100871,P.R.China

This paper considers the stabilization of a class of uncertain chaotic systems.A robust adaptive sliding-mode controller is proposed to suppress the chaotic systems with uncertain systematic parameter vectors and unknown bound on external *** obtained systems have the desired sliding-mode dynamics,which prescribes the asymptotic stability and robustness against *** adaption laws,designed for identification of unknown parameters,are convergent with the Lyapunov stability *** numerical simulation of Genesio-Tesi system and Lorenz system verifies the effectiveness of this proposed control scheme.

关键词： Chaotic Systems sliding-mode control Adaption Law Lyapunov Stability

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Finite-Time Robust Synchronization of Delayed Competitive Neural Networks via sliding-mode control

Finite-Time Robust Synchronization of Delayed Competitive Ne...

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第40届中国控制会议

作者： Xingxing Tan Leimin Wang Xili Chen Jiajun Cheng Shan Jiang School of Automation China University of Geosciences Hubei Key Laboratory of Advanced control and Intelligent Automation for Complex Systems

In this paper, based on the sliding-mode control, the finite-time synchronization of delayed competitive neural networks with external disturbances is investigated. Firstly, a controller and two sliding-mode surfaces are designed. Then, by utilizing the finite-time stability theory, the error states of drive and response delayed competitive neural networks are able to reach the designed surfaces in a finite time and then keep on the surfaces, where the states of equivalent system will approach zero in a finite time. Finally, a numerical example is presented to illustrate the effectiveness of the theoretical results.

关键词： Competitive neural networks finite-time synchronization sliding-mode control disturbance

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Speed Sensorless sliding-mode control for Induction Motor Drives

Speed Sensorless Sliding-Mode Control for Induction Motor Dr...

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第二十四届中国控制会议

作者： Lanying Hao,Dezong Zhao, Chengjin Zhang(School of control Science and Engineering, Shandong University, Jinan 250061)

＜正＞ This paper proposes a sliding-mode controller （SMC） for induction motor drives based on simple sensorless flux and speed measurement schemes with load torque estimation. In this control algorithm, differential geometry’ and feedback linearization control （FLC） theory are used to decouple the control of rotor flux magnitude and rotor speed, a continuous control term is introduced to eliminate chattering. To estimate rotor flux, speed and load torque, simple observers constructed from mechanical model of the motor are used. The advantages of the overall control scheme are: the speed sensor that is an inconvenient device is eliminated, the rotor flux and generated speed can be accurately controlled, and robustness with respect to matched and unmatched uncertainties is obtained. Simulation results are presented to confirm the characteristics of the proposed control scheme.

关键词： induction motor sliding-mode control speed sensorless control observer

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Adaptive backstepping sliding-mode control for permanent magnet linear synchronous motors

Adaptive backstepping sliding-mode control for permanent mag...

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第37届中国控制会议

作者： Zhi-xiang Chen Qin-he Gao Li-long Tan The 2

This paper presents a position servo control approach for permanent magnet linear synchronous motors.A backstepping sliding-mode controller is proposed for the *** overcome the impacts of system uncertainties,an adaptive radial basis function network is exploited to estimate the uncertainty and provide necessary compensation in the control *** on the Lyapunov functional analysis,the adaptive laws for online tuning the parameters of the radial basis function networks are derived so that the precision of the position servo controller can be *** effectiveness of the proposed controller is verified by the simulation results.

关键词： permanent magnet linear synchronous motor radial basis function network backstepping sliding-mode control

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