By Yuri Shtessel, Christopher Edwards, Leonid Fridman, Arie Levant auth. It will be demonstrated that the considered approach is particularly suited for self-sensing electromechanical systems. Firstly, the web-winding system is regarded as a synthetic system with several dynamic subsystems and their dynamic models are given. About this Item: BirkhÃ¤user, 2013. Robust control technology based on this methodology has been applied to many real-world problems, especially in the areas of aerospace control, electric power systems, electromechanical systems, and robotics.
To illustrate the theoretical results, a numerical example with a comparative study is introduced. The unknown matched disturbance is fully considered and estimated in this paper, and the estimation error is proven to be finite-time convergent. This paper investigates a precise tracking control method based on an adaptive disturbance observer for the dual-motor driving system. Then the sliding variables are introduced and their dynamics are derived. Numerical simulations and experimental results obtained with the microdiving agent demonstrate the efficacy of the proposed approach and its suitableness for both stabilization and trajectory tracking problems. It is essentially a mathematical replica of the system, driven by the input of the system together with a signal representing the difference between the measured system and observer outputs.
At each step of virtual controller design, a prescribed performance controller is constructed to achieve prescribed transient performance so that the system states remain in the feasible domain. The selection of the sliding subspace can be such that the system nonlinearity does not influence the sliding motion. The higher-order sliding mode differentiator-based observer, which was discussed in Chap. It is clarified that the prescribed performance control technique ensures that the system signals stay in the feasible domain, whereas sufficiently small ultimate control errors can be achieved by the finite-time disturbance observers. Finally, we prove the stability of the proposed controller based on the Sarpturk reaching condition.
This is in contrast to typical high-gain observer approaches, where the observer gains are chosen such that the nonlinearities are dominated by a linear system. To formulate conditions for the construction of the observer gains, stability results for nonlinear singularly perturbed systems are utilised. Sliding Mode Control and Observation represents the first textbook that starts with classical sliding mode control techniques and progresses toward newly developed higher-order sliding mode control and observation algorithms and their applications. Sliding Mode keep an eye on and Observation represents the 1st textbook that begins with classical sliding mode keep an eye on innovations and progresses towards newly constructed higher-order sliding mode keep watch over and statement algorithms and their applications. The main advantage of higher second- order sliding mode control is its ability to guarantee higher accuracy of the sliding variable stabilization at zero than conventional sliding mode control. As we have seen, second-order sliding modes make the sliding variables vanish in finite time, when the relative degree of the variable equals two, and are able to solve the same problem by means of continuous control, if the relative degree is one.
A sliding mode controller based on the multiple sliding surface technique is proposed in which the disturbance is compensated. Finite time convergence, robustness, and exactness are also ensured analytically with the proposed methodology. Assuming the value of m is known exactly, the drag coefficient is bounded k1 Ä k Ä k2 and the position and its derivative velocity x; xP are measured: a Obtain a state system model of the vehicle using x1 D x; x2 D xP as the state variables. Pages and cover are clean and intact. Then, the nonlinear coordinate transformation is introduced to obtain a transformed system with block triangular structure and the interconnections among subsystems are allowed. In this paper, an adaptive fuzzy inference system is combined with a sliding mode controller in order to enhance the control performance of uncertain underactuated mechanical systems. The validity of the proposed control method is illustrated by a numerical example.
Then each virtual controller is enhanced by a finite-time disturbance observer which estimates the disturbance term in a finite-time. The results indicate the advantage of the proposed method over the other techniques. This helps to remove dangerous high-energy vibrations the dangerous types of chattering. The systems are under a directed communication graph, where the leader node is the root. Underactuated mechanical systems are frequently encountered in several industrial and real-world applications such as robotic manipulators with elastic components, aerospace vehicles, marine vessels, and overhead container cranes. In this paper, a framework for the development of intelligent controllers is proposed.
Artificial gas lift is widely used in the oil industry to enhance oil recovery. The main focus of the chapter is on the development of sliding mode design techniques for uncertain linear systems—specifically systems which can be thought of as predominantly linear in a characteristic, or nonlinear systems which can be modeled well at least locally by a linear system. Meanwhile, the estimation error dynamics can be obtained. Die aktuelle Auflage basiert auf Creo three. Thanks to an original approach that is based on the fact that the twisting control law can be viewed as a controller with switching gain, the domain of convergence of a closed-loop system controlled by the twisting algorithm is obtained. Book is in Used-Good condition.
Experimental results obtained with an overhead container crane demonstrate not only the feasibility of the proposed scheme, but also its improved efficacy for both stabilization and trajectory tracking problems. In this chapter we further develop the ideas of Chap. Read honest and unbiased product reviews from our users. Here, the concept of dynamic sliding mode control and the attractive ellipsoid method advantages are used to design a robust nonlinear control algorithm, which reduces considerably the perturbation effects. The practical implementation of sliding mode controllers usually assumes knowledge of all system states. The accuracy remains high in the presence of small noises, switching inaccuracies and delays, etc. Besides, a new approach to a nonlinear model treatment proposed in the present paper leads to a high computational efficiency of the observer for the gas lift.
The nonlinear observer is designed directly in the given coordinates, where the error dynamics between the plant and the observer becomes singularly perturbed by a high-gain part of the observer injection, and the information of the slow manifold is exploited to construct the observer gains of the reduced-order dynamics. Then those organic elements are characterised through a customary modeling procedure and picked up within the part libraries, which might be successfully reused in engineering man made gene networks. Sliding Mode Control and Observation represents the first textbook that starts with classical sliding mode control techniques and progresses toward newly developed higher-order sliding mode control and observation algorithms and their applications. In addition, comparative simulations are provided to verify the benefits of the proposed methods. The aim of this paper is to design a robust control for stabilization of a class of nonlinear perturbed system subject to matched and unmatched disturbances. In order to avoid chattering effect and achieve finite time convergence, the control gains are selected based on positive semi-definite barrier function. Exercises provided at the end of each chapter make this an ideal text for an advanced course taught in control theory.
This means that D P D 0 for all t tr. Active feedback control of this process would lead to its stabilization, that in some operating modes may otherwise be unstable, and to the increase of oil production. Two variants of the proposed observer design are illustrated for a nonlinear electromagnetic actuator, where the mechanical quantities, i. The approach is supported by simulations. The controller is designed in a backstepping manner, and the dynamic surface technique is adopted to avoid direct differentiation.