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Reduction of the reaching mode by the sliding mode control with time-varying sliding surface
2015 IEEE/SICE International Symposium on System Integration (SII), 2015In this paper, a sliding mode control method with time-varying sliding surface is proposed. The greatest characteristic of sliding mode control is its robustness against uncertainties, such as disturbances, modeling error, or parameter variation. Robustness is guaranteed only if uncertainties satisfy the matching condition, so it is important to ...
Naoki Watanabe 0006 +2 more
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Fuzzy-Based Sliding Mode Control and Sliding Mode Control of a Spherical Robot
IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society, 2018Due to their complicated dynamics coupled with kinematics and non-holonomic underactuated behavior, spherical robots cannot unveil their full maneuverability when linear controllers are applied. Because of that, position and trajectory tracking of spherical robots have been the main challenges recently tackled in the literature.
Majid Taheri Andani +4 more
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IEEE Transactions on Automatic Control, 2001
Summary: This paper studies sliding-mode control where the usual regularity assumptions need not hold. In particular, we allow ``singular submanifolds'' near which the state trajectory cannot be steered toward the sliding surface. For nonlinear systems whose singular submanifold satisfies suitable transversality conditions, we identify a class of ...
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Summary: This paper studies sliding-mode control where the usual regularity assumptions need not hold. In particular, we allow ``singular submanifolds'' near which the state trajectory cannot be steered toward the sliding surface. For nonlinear systems whose singular submanifold satisfies suitable transversality conditions, we identify a class of ...
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Discrete time sliding mode control with minimal quasi sliding mode band
2012 12th International Workshop on Variable Structure Systems, 2012A new approach is presented to analyze sliding mode control in discrete-time systems using an established reaching law, whereby the ultimate band is obtained to be lesser than any previous analysis done with the same reaching law. Also, the controller parameters are evaluated according to the ultimate band that is desired.
Sohom Chakrabarty, Bijnan Bandyopadhyay
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Discrete-Time Sliding-Mode Control With Improved Quasi-Sliding-Mode Domain
IEEE Transactions on Industrial Electronics, 2016In this paper, a new discrete reaching law with improved quasi-sliding-mode domain (QSMD) is proposed and a sliding-mode controller is designed for discrete-time systems with uncertainties. By redefining the change rate as the second-order difference of the system uncertainties and adopting the continuous-approximate function, smaller width of the QSMD
Haifeng Ma +2 more
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A general class of sliding surface for sliding mode control
Proceedings of 35th IEEE Conference on Decision and Control, 1998Sliding control of linear plants is discussed when the relative degree of the chosen sliding surface is greater than one. The asymptotic stability of the system is examined.
Steven Chingyei Chung, Chun-Liang Lin
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Invariant sliding sectors for discrete sliding mode control
Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187), 2002A new concept, "invariant sliding sector", for the design of discrete sliding mode control (DSMC) is proposed. The construction of the first order invariant sliding sectors for the second order DSMC systems is first presented, followed by an extension of the first order sector concept to higher order DSMC systems by developing a recursive structure ...
Xinghuo Yu 0001, Shuanghe Yu
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Uniform sliding mode controllers and uniform sliding surfaces
IMA Journal of Mathematical Control and Information, 2012Summary: We propose two uniform Sliding Mode Controllers (SMCs) for a second-order uncertain system. They provide convergence to an arbitrarily small vicinity centered at the origin in finite time, which can be bounded by some constant independent of the initial conditions and uncertainties.
Emmanuel Cruz-Zavala +2 more
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Discrete sliding-mode-based differentiators
2016 14th International Workshop on Variable Structure Systems (VSS), 2016Sliding-mode-based differentiators of the input f(t) of the order k yield exact estimations of the derivatives f(1), … f(k), provided an upper bound of |f(k+1)(t)| is available in real time.Practical application involves discrete noisy sampling of f and numeric integration of the internal variables between the measurements. The corresponding asymptotic
Barbot, Jean-Pierre +3 more
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WEIGHTED SLIDING EMPIRICAL MODE DECOMPOSITION
Advances in Adaptive Data Analysis, 2011The analysis of nonlinear and nonstationary time series is still a challenge, as most classical time series analysis techniques are restricted to data that is, at least, stationary. Empirical mode decomposition (EMD) in combination with a Hilbert spectral transform, together called Hilbert-Huang transform (HHT), alleviates this problem in a purely ...
Faltermeier, R +4 more
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