You searched for subject:(Sliding mode control).
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Rochester Institute of Technology
1.
Marvin, Tim.
Sliding Mode Control of MIMO Non-Square Systems via Squaring Matrix Transforms.
Degree: MS, Mechanical Engineering, 2013, Rochester Institute of Technology
URL: https://scholarworks.rit.edu/theses/8607 
► In this thesis, a novel method for control of over- or under-actuated dynamic systems is developed. The primary control method considered here is Sliding…
(more)
▼ In this thesis, a novel method for
control of over- or under-actuated dynamic systems is developed. The primary
control method considered here is
Sliding Mode Control which requires an inversion of the
control input influence matrix. However on many systems this matrix is non-square, requiring alternate methods in order to the
control solution. Some existing solutions for this class of problems include pseudo-inversion such as the Moore-Penrose (which does not allow the design engineer to select the desired state to controlled), dynamic extension (which is difficult to implement on large systems), and pseudo-inverse squaring transform methods. While the squaring transform method solves the key issue in the Moore-Penrose method of not being able to select the desired
control state, it still has been limited to systems with only one input. The current effort seeks to extend this squaring transformation method to multiple input systems and demonstrate the
control allocation properties of the technique. By extending this method to multiple-input systems the technique becomes applicable to a wider range of real world problems, allowing designers to select and optimally
control any desired state on multi-input-multi-output systems. This thesis examines the existing solutions for squaring of input influence matrices such as Moore-Penrose and dynamic extension, the transform method developed in previous work, and derives a multi-input extension to that method and also considers
control allocation in the solution process. Simulations are then developed on a two-input, four mass-spring-damper system, and multi-input longitudinal aircraft model to demonstrate the technique and characterize its performance in both sterile and noisy environments.
Advisors/Committee Members: Agamemnon Crassidis.
Subjects/Keywords: Control systems; Sliding mode control
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APA (6th Edition):
Marvin, T. (2013). Sliding Mode Control of MIMO Non-Square Systems via Squaring Matrix Transforms. (Masters Thesis). Rochester Institute of Technology. Retrieved from https://scholarworks.rit.edu/theses/8607
Chicago Manual of Style (16th Edition):
Marvin, Tim. “Sliding Mode Control of MIMO Non-Square Systems via Squaring Matrix Transforms.” 2013. Masters Thesis, Rochester Institute of Technology. Accessed February 24, 2021.
https://scholarworks.rit.edu/theses/8607.
MLA Handbook (7th Edition):
Marvin, Tim. “Sliding Mode Control of MIMO Non-Square Systems via Squaring Matrix Transforms.” 2013. Web. 24 Feb 2021.
Vancouver:
Marvin T. Sliding Mode Control of MIMO Non-Square Systems via Squaring Matrix Transforms. [Internet] [Masters thesis]. Rochester Institute of Technology; 2013. [cited 2021 Feb 24].
Available from: https://scholarworks.rit.edu/theses/8607.
Council of Science Editors:
Marvin T. Sliding Mode Control of MIMO Non-Square Systems via Squaring Matrix Transforms. [Masters Thesis]. Rochester Institute of Technology; 2013. Available from: https://scholarworks.rit.edu/theses/8607
Penn State University
2.
Ding, Xibei.
Modern Control System Design for Hydro-power Plant
.
Degree: 2011, Penn State University
URL: https://submit-etda.libraries.psu.edu/catalog/11831
► This thesis addresses dynamic model and advance controller design for entire Hydro-power plant. Although hydro-power has the best payback ratio and the highest efficiency in…
(more)
▼ This thesis addresses dynamic model and advance controller design for entire Hydro-power plant. Although hydro-power has the best payback ratio and the highest efficiency in the all electricity generating method due to the constant upgrading turbine, tunnel and reservoir design, most of the plants’
control systems are still using the technique developed in the 60s. It limits the operating range of the system such as specific water flow rate and reservoir level. As energy demands increasing every day, it is necessary to develop more flexible
control system for the plants to operate at different situations. The goal of this thesis is to design a nonlinear controller for the hydro-power plant in order to improve its ability to handle different operating conditions. The works is more focus on load frequency
control. In order to achieve such goal, the detail dynamic model of hydro-power plant has been studied and presented, especially the turbine penstock transient response. Several advance
control algorithms have been implanted on the hydro-power system, such as
sliding mode control with , feedback linearization with
sliding mode control and second order
sliding mode control. The simulation of each controller has been compared with traditional linear optimal controller. The results of this thesis show that the benefits of these advance controllers.
Advisors/Committee Members: Alok Sinha, Thesis Advisor/Co-Advisor, Alok Sinha, Thesis Advisor/Co-Advisor.
Subjects/Keywords: robust control; sliding mode; hydropower
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APA (6th Edition):
Ding, X. (2011). Modern Control System Design for Hydro-power Plant
. (Thesis). Penn State University. Retrieved from https://submit-etda.libraries.psu.edu/catalog/11831
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Ding, Xibei. “Modern Control System Design for Hydro-power Plant
.” 2011. Thesis, Penn State University. Accessed February 24, 2021.
https://submit-etda.libraries.psu.edu/catalog/11831.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Ding, Xibei. “Modern Control System Design for Hydro-power Plant
.” 2011. Web. 24 Feb 2021.
Vancouver:
Ding X. Modern Control System Design for Hydro-power Plant
. [Internet] [Thesis]. Penn State University; 2011. [cited 2021 Feb 24].
Available from: https://submit-etda.libraries.psu.edu/catalog/11831.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Ding X. Modern Control System Design for Hydro-power Plant
. [Thesis]. Penn State University; 2011. Available from: https://submit-etda.libraries.psu.edu/catalog/11831
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
University of Alberta
3.
Van Kleeck, Christopher John.
Formation control for autonomous marine vehicles.
Degree: MS, Department of Mechanical Engineering, 2009, University of Alberta
URL: https://era.library.ualberta.ca/files/3197xn557
► The development, implementation, and testing of a leader-follower based robust nonlinear formation controller is discussed in this thesis. This controller uses sliding mode control on…
(more)
▼ The development, implementation, and testing of a
leader-follower based robust nonlinear formation controller is
discussed in this thesis. This controller uses sliding mode control
on the length and angle between the leader and follower vessels to
produce the desired formation. A boat model, assuming planar motion
(three degrees of freedom), is used as the bases for the
controller. Open loop testing is performed to determine parameter
values to match the simulation model to the physical one and, upon
tuning of the controller to match, closed loop testing of the
controller with a virtual leader is also performed. From these
tests it is found that the controller is unstable, thus
improvements to the controller, through changes made to the model
and to the parameter identification process, are undertaken.
Simulations comparing the initial and updated models of the vehicle
to open loop data show an improvement in the new
model.
Subjects/Keywords: autonomous vehicles; sliding mode control; formation control
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APA (6th Edition):
Van Kleeck, C. J. (2009). Formation control for autonomous marine vehicles. (Masters Thesis). University of Alberta. Retrieved from https://era.library.ualberta.ca/files/3197xn557
Chicago Manual of Style (16th Edition):
Van Kleeck, Christopher John. “Formation control for autonomous marine vehicles.” 2009. Masters Thesis, University of Alberta. Accessed February 24, 2021.
https://era.library.ualberta.ca/files/3197xn557.
MLA Handbook (7th Edition):
Van Kleeck, Christopher John. “Formation control for autonomous marine vehicles.” 2009. Web. 24 Feb 2021.
Vancouver:
Van Kleeck CJ. Formation control for autonomous marine vehicles. [Internet] [Masters thesis]. University of Alberta; 2009. [cited 2021 Feb 24].
Available from: https://era.library.ualberta.ca/files/3197xn557.
Council of Science Editors:
Van Kleeck CJ. Formation control for autonomous marine vehicles. [Masters Thesis]. University of Alberta; 2009. Available from: https://era.library.ualberta.ca/files/3197xn557
University of New South Wales
4.
Xi, Zhiyu.
Advanced sliding mode control - theory and applications.
Degree: Electrical Engineering & Telecommunications, 2011, University of New South Wales
URL: http://handle.unsw.edu.au/1959.4/50866
;
https://unsworks.unsw.edu.au/fapi/datastream/unsworks:9760/SOURCE02?view=true
► During the past three decades since V. I. Utkin published his survey paper “Variablestructure systems with sliding modes” in the IEEE Transactions on Automatic Controlin…
(more)
▼ During the past three decades since V. I. Utkin published his survey paper “Variablestructure systems with sliding modes” in the IEEE Transactions on Automatic Controlin 1977, significant interest in variable structure systems (VSS) and sliding modecontrol (SMC) has been generated in the control research community worldwide. Ithas been claimed that the discontinuous control action results in superb system performancewhich includes insensitivity to parameter variations and complete rejectionof disturbances. Due to this virtue, sliding mode control has been widely appliedand research on sliding mode control theory is greatly motivated as challenges anddemands grow. It is noticed that a variety of improved sliding mode control schemeshave been invented which possess additional desirable characteristics. In this thesis,the author would like to report explorations on advanced sliding mode control lawsand their applications. The advanced sliding mode schemes covered in this thesis are:higher order sliding mode control, integral sliding mode control and terminal slidingmode control. Also, application of traditional sliding mode control and integral slidingmode control methods to fuzzy systems are also included. This provides an elegantway of designing controllers feasibly for nonlinear systems.
Subjects/Keywords: Sliding mode control; Fuzzy systems; Nonlinear systems
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APA (6th Edition):
Xi, Z. (2011). Advanced sliding mode control - theory and applications. (Doctoral Dissertation). University of New South Wales. Retrieved from http://handle.unsw.edu.au/1959.4/50866 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:9760/SOURCE02?view=true
Chicago Manual of Style (16th Edition):
Xi, Zhiyu. “Advanced sliding mode control - theory and applications.” 2011. Doctoral Dissertation, University of New South Wales. Accessed February 24, 2021.
http://handle.unsw.edu.au/1959.4/50866 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:9760/SOURCE02?view=true.
MLA Handbook (7th Edition):
Xi, Zhiyu. “Advanced sliding mode control - theory and applications.” 2011. Web. 24 Feb 2021.
Vancouver:
Xi Z. Advanced sliding mode control - theory and applications. [Internet] [Doctoral dissertation]. University of New South Wales; 2011. [cited 2021 Feb 24].
Available from: http://handle.unsw.edu.au/1959.4/50866 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:9760/SOURCE02?view=true.
Council of Science Editors:
Xi Z. Advanced sliding mode control - theory and applications. [Doctoral Dissertation]. University of New South Wales; 2011. Available from: http://handle.unsw.edu.au/1959.4/50866 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:9760/SOURCE02?view=true
Rutgers University
5.
Nguyen, Thang Tien, 1980-.
Sliding mode control for systems with slow and fast modes.
Degree: PhD, Electrical and Computer Engineering, 2010, Rutgers University
URL: http://hdl.rutgers.edu/1782.2/rucore10001600001.ETD.000053125
► This dissertation addresses the problems of sliding mode control for systems with slow and fast dynamics. A system using a sliding mode control strategy can…
(more)
▼ This dissertation addresses the problems of sliding mode control for systems with slow and fast dynamics. A system using a sliding mode control strategy can display robust performances against parametric and exogenous disturbances under the matching condition (Drazenovic's condition). We investigate the problem of output feedback sliding mode control for sampled-data systems with an unknown external disturbance. Given an output sliding surface, we construct a discrete-time control law. Since the external disturbance in the control law is unknown, we approximate it by system information from the previous time instant. The synthesized control law provides promising results with high robustness against the external disturbance. These results are further improved by a method which better approximate the disturbance by system information from two previous time instants. The stability and robustness of the closed-loop system are analyzed by studying a transformed singularly perturbed discrete-time system. The second topic is to study sliding mode control for singularly perturbed systems which exhibit slow and fast dynamics. A state feedback control law is designed for either slow or fast modes. Then, the system under that state feedback control law is put into a triangular form. In the new coordinates, a sliding surface is constructed for the remaining modes using Utkin and Young's method. A sliding mode control law is synthesized by a method which is an improved version of the unit control method by Utkin. Lastly, a composite control law is synthesized from the two components. The topic is also addressed by Lyapunov approaches. A state feedback composite control law is designed to stabilize the system. Accordingly, Lyapunov functions are constructed to synthesize a sliding surface. Two sliding surfaces and two sliding mode controllers are proposed. Asymptotic stability and disturbance rejection are achieved. Sliding mode control for singularly perturbed discrete-time systems with parametric uncertainties is also investigated. Proceeding along the same lines as in the continuous-time case, we propose two approaches to construct a composite control law. It is shown that the closed-loop system under the proposed control laws is asymptotically stable provided the perturbation parameter is small enough.
Includes abstract
Advisors/Committee Members: Nguyen, Thang Tien, 1980- (author), Gajic, Zoran (chair), Pompili, Dario (internal member), Spasojevic, Predrag (internal member), Su, Wu-Chung (outside member).
Subjects/Keywords: Sliding mode control
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APA (6th Edition):
Nguyen, Thang Tien, 1. (2010). Sliding mode control for systems with slow and fast modes. (Doctoral Dissertation). Rutgers University. Retrieved from http://hdl.rutgers.edu/1782.2/rucore10001600001.ETD.000053125
Chicago Manual of Style (16th Edition):
Nguyen, Thang Tien, 1980-. “Sliding mode control for systems with slow and fast modes.” 2010. Doctoral Dissertation, Rutgers University. Accessed February 24, 2021.
http://hdl.rutgers.edu/1782.2/rucore10001600001.ETD.000053125.
MLA Handbook (7th Edition):
Nguyen, Thang Tien, 1980-. “Sliding mode control for systems with slow and fast modes.” 2010. Web. 24 Feb 2021.
Vancouver:
Nguyen, Thang Tien 1. Sliding mode control for systems with slow and fast modes. [Internet] [Doctoral dissertation]. Rutgers University; 2010. [cited 2021 Feb 24].
Available from: http://hdl.rutgers.edu/1782.2/rucore10001600001.ETD.000053125.
Council of Science Editors:
Nguyen, Thang Tien 1. Sliding mode control for systems with slow and fast modes. [Doctoral Dissertation]. Rutgers University; 2010. Available from: http://hdl.rutgers.edu/1782.2/rucore10001600001.ETD.000053125
Penn State University
6.
Rittenhouse, Benjamin David.
Optimal Sliding Mode Gaussian Control of Hydro Power Plants.
Degree: 2013, Penn State University
URL: https://submit-etda.libraries.psu.edu/catalog/17830
► This thesis presents a study of a hydroelectric plant under different control strategies for load frequency control. Both isolated systems and systems connected to a…
(more)
▼ This thesis presents a study of a hydroelectric plant under different
control strategies for load frequency
control. Both isolated systems and systems connected to a network are considered. All simulations are carried out in the hydraulic modeling program SIMSEN in order to achieve realistic simulations. System identification is used to obtain a dynamic model of the turbine and penstock dynamics in SIMSEN and is subsequently used to build a model for the full system dynamics. An observer is used to generate the estimated state vector associated with the turbine model. Using the full system models for the hydroelectric plant, optimal
sliding mode Gaussian (OSG) controllers are designed. Simulation results are compared with those of traditional Proportional Integral (PI) and Linear Quadratic Gaussian (LQG)
control designs. It is shown that the OSG
control method improves the system performance under a load disturbance.
Advisors/Committee Members: Alok Sinha, Thesis Advisor/Co-Advisor.
Subjects/Keywords: hydro; hydropower; control; OSG; sliding mode control; LQG; Optimal Sliding Mode Gaussian
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APA (6th Edition):
Rittenhouse, B. D. (2013). Optimal Sliding Mode Gaussian Control of Hydro Power Plants. (Thesis). Penn State University. Retrieved from https://submit-etda.libraries.psu.edu/catalog/17830
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Rittenhouse, Benjamin David. “Optimal Sliding Mode Gaussian Control of Hydro Power Plants.” 2013. Thesis, Penn State University. Accessed February 24, 2021.
https://submit-etda.libraries.psu.edu/catalog/17830.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Rittenhouse, Benjamin David. “Optimal Sliding Mode Gaussian Control of Hydro Power Plants.” 2013. Web. 24 Feb 2021.
Vancouver:
Rittenhouse BD. Optimal Sliding Mode Gaussian Control of Hydro Power Plants. [Internet] [Thesis]. Penn State University; 2013. [cited 2021 Feb 24].
Available from: https://submit-etda.libraries.psu.edu/catalog/17830.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Rittenhouse BD. Optimal Sliding Mode Gaussian Control of Hydro Power Plants. [Thesis]. Penn State University; 2013. Available from: https://submit-etda.libraries.psu.edu/catalog/17830
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
University of Manitoba
7.
Abd. Rahman, Ramhuzaini.
Dynamical Adaptive Backstepping-Sliding Mode Control for servo-pneumatic positioning applications: controller design and experimental evaluation.
Degree: Mechanical Engineering, 2016, University of Manitoba
URL: http://hdl.handle.net/1993/31136
► Servo control of pneumatic actuators is difficult due to the high compressibility and non-linear flow of air. Friction as well as uncertainties in the parameters…
(more)
▼ Servo
control of pneumatic actuators is difficult due to the high compressibility and non-linear flow of air. Friction as well as uncertainties in the parameters and model character-izing dynamics of the pneumatic systems further contribute to
control challenges. These drawbacks cause stick-slip motion, larger tracking error and limit cycles, which degrades the
control performances. Selection of a controller that satisfies requirements of the per-forming tasks is thus crucial in servo-pneumatic applications. This thesis focuses on the design and experimental evaluation of a model-based, nonlinear controller known as Dy-namical Adaptive Backstepping-
Sliding Mode Control (DAB-SMC). Originally designed for chemical process
control and applied only in simulations, the DAB-SMC is adopted in this thesis and applied to the new area of servo-pneumatic
control of a single-rod, double acting pneumatic cylinder and antagonistic pneumatic artificial muscles (PAMs). The con-troller is further enhanced by augmenting it with LuGre-based friction observers to com-pensate the adverse frictional effect presents in both actuators. Unlike other research works, the actuators are
subject to a varying load that influences
control operations in two different modes: motion assisting or resisting. The implementation of DAB-SMC for such servo-pneumatic
control application is novel. The mass flow rates of compressed air into and out of the actuators are regulated using one of the following valve configurations: a 5/3-way proportional directional valve, two 3/2-way or four 2/2-way Pulse Width Modu-lation (PWM)-controlled valves. Over the entire range of experiments which involve vari-ous operating conditions, the DAB-SMC is observed to track and regulate the reference input trajectories successfully and in a stable manner. Average root mean square error (RMSE) values of tracking for cylinder and PAMs when the compressed air is regulated using the 5/3-way proportional valve are 1.73mm and 0.10°, respectively. In case of regu-lation, the average steady-state error (SSE) values are 0.71mm and 0.04°, respectively. The DAB-SMC exhibits better
control performance than the standard PID and classical SMC by at least 33%. The DAB-SMC also demonstrates robustness for up to 78% in un-certainty of load parameter. When the
control valve is replaced by the PWM-controlled valves of 3/2-way and 2/2-way configurations, performance is slightly compromised.
Advisors/Committee Members: Sepehri, Nariman (Mechanical Engineering) (supervisor), Balakrishnan, Subramaniam (Mechanical Engineering.
Subjects/Keywords: Servo-pneumatic; Pnneumatic actuators; Sliding mode control; Dynamical adaptive backstepping-sliding mode control
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APA (6th Edition):
Abd. Rahman, R. (2016). Dynamical Adaptive Backstepping-Sliding Mode Control for servo-pneumatic positioning applications: controller design and experimental evaluation. (Thesis). University of Manitoba. Retrieved from http://hdl.handle.net/1993/31136
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Abd. Rahman, Ramhuzaini. “Dynamical Adaptive Backstepping-Sliding Mode Control for servo-pneumatic positioning applications: controller design and experimental evaluation.” 2016. Thesis, University of Manitoba. Accessed February 24, 2021.
http://hdl.handle.net/1993/31136.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Abd. Rahman, Ramhuzaini. “Dynamical Adaptive Backstepping-Sliding Mode Control for servo-pneumatic positioning applications: controller design and experimental evaluation.” 2016. Web. 24 Feb 2021.
Vancouver:
Abd. Rahman R. Dynamical Adaptive Backstepping-Sliding Mode Control for servo-pneumatic positioning applications: controller design and experimental evaluation. [Internet] [Thesis]. University of Manitoba; 2016. [cited 2021 Feb 24].
Available from: http://hdl.handle.net/1993/31136.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Abd. Rahman R. Dynamical Adaptive Backstepping-Sliding Mode Control for servo-pneumatic positioning applications: controller design and experimental evaluation. [Thesis]. University of Manitoba; 2016. Available from: http://hdl.handle.net/1993/31136
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Rochester Institute of Technology
8.
Szklany, Steven.
A Feasibility assessment of a new navigation system for unmanned underwater vehicles with adaptive gain sliding mode differentiation.
Degree: Mechanical Engineering, 2012, Rochester Institute of Technology
URL: https://scholarworks.rit.edu/theses/5805
► In this work, a highly accurate navigation device is proposed for unmanned underwater vehicle navigation. A six degree of freedom, open loop underwater vehicle model…
(more)
▼ In this work, a highly accurate navigation device is proposed for unmanned underwater vehicle navigation. A six degree of freedom, open loop underwater vehicle model is generated and is used as the motion platform in this study. The new navigation system, previously developed at the Rochester Institute of Technology, requires real-time body angular acceleration terms as inputs to the algorithm. To address this requirement, real-time signal differentiation techniques were investigated. The differentiation of real-world, noisy signals is a difficult task due to the inherent numerical differentiation and subsequent noise amplification. A
sliding mode differentiation scheme is proposed with a fuzzy adaptive controller to aid the accuracy of the signal differentiator and minimize noise amplification. The device algorithms are then implemented in the underwater vehicle model and navigation estimates are compared against theoretical motion. The result is an accurate representation of underwater vehicle attitude and velocity without the aid of global positioning satellite data. Although inertial position estimates obtained from noisy signals suffer from drifting, the filtering techniques used in this work minimize this effect. The navigation estimates show the best results on dynamic maneuvers which do not induce a rolling motion as the underdamped rolling motion requires higher steady state noise for estimation. When assessed against current technologies for underwater vehicle navigation that do not use GPS, the proposed system provides comparable estimation results while creating a reduction of cost, weight and removing the dependence on the speed of sound in water.
Advisors/Committee Members: Crassidis, Agamemnon.
Subjects/Keywords: Adaptive gain sliding mode control; Attitude estimation; Sliding mode differentiation; Underwater vehicle navigation
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APA (6th Edition):
Szklany, S. (2012). A Feasibility assessment of a new navigation system for unmanned underwater vehicles with adaptive gain sliding mode differentiation. (Thesis). Rochester Institute of Technology. Retrieved from https://scholarworks.rit.edu/theses/5805
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Szklany, Steven. “A Feasibility assessment of a new navigation system for unmanned underwater vehicles with adaptive gain sliding mode differentiation.” 2012. Thesis, Rochester Institute of Technology. Accessed February 24, 2021.
https://scholarworks.rit.edu/theses/5805.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Szklany, Steven. “A Feasibility assessment of a new navigation system for unmanned underwater vehicles with adaptive gain sliding mode differentiation.” 2012. Web. 24 Feb 2021.
Vancouver:
Szklany S. A Feasibility assessment of a new navigation system for unmanned underwater vehicles with adaptive gain sliding mode differentiation. [Internet] [Thesis]. Rochester Institute of Technology; 2012. [cited 2021 Feb 24].
Available from: https://scholarworks.rit.edu/theses/5805.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Szklany S. A Feasibility assessment of a new navigation system for unmanned underwater vehicles with adaptive gain sliding mode differentiation. [Thesis]. Rochester Institute of Technology; 2012. Available from: https://scholarworks.rit.edu/theses/5805
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Wayne State University
9.
Mastory, Constantine.
Non-Linear Robust Observers For Systems With Non-Collocated Sensors And Actuators.
Degree: PhD, Mechanical Engineering, 2014, Wayne State University
URL: https://digitalcommons.wayne.edu/oa_dissertations/991
► Challenges in controlling highly nonlinear systems are not limited to the development of sophisticated control algorithms that are tolerant to significant modeling imprecision and…
(more)
▼ Challenges in controlling highly nonlinear systems are not limited to the development of sophisticated
control algorithms that are tolerant to significant modeling imprecision and external disturbances. Additional challenges stem from the implementation of the
control algorithm such as the availability of the state variables needed for the computation of the
control signals, and the adverse effects induced by non-collocated sensors and actuators.
The present work investigates the adverse effects of non-collocated sensors and actuators on the phase characteristics of flexible structures and the ensuing implications on the performance of structural controllers. Two closed-loop systems are considered and their phase angle contours have been generated as functions of the normalized sensor location and the excitation frequency. These contours were instrumental in the development of remedial actions for rendering structural controllers immune to the detrimental effects of non-collocated sensors and actuators.
Moreover, the current work has focused on providing experimental validation for the robust performances of a self-tuning observer and a
sliding mode observer. The observers are designed based on the variable structure systems theory and the self-tuning fuzzy logic scheme. Their robustness and self-tuning characteristics allow one to use an imprecise model of the system and eliminate the need for the extensive tuning associated with a fixed rule-based expert fuzzy inference system. The first phase of the experimental work was conducted in a controlled environment on a flexible spherical robotic manipulator whose natural frequencies are configuration-dependent. Both controllers have yielded accurate estimates of the required state variables in spite of significant modeling imprecision.
The observers were also tested under a completely uncontrolled environment, which involves a 16-ft boat operating in open-water under different sea states. Such an experimental work necessitates the development of a supervisory
control algorithm to perform PTP tasks, prescribed throttle arm and steering tasks, surge speed and heading tracking tasks, or recovery maneuvers. This system has been implemented herein to perform prescribed throttle arm and steering
control tasks based on estimated rather than measured state variables. These experiments served to validate the observers in a completely uncontrolled environment and proved their viability as reliable techniques for providing accurate estimates for the required state variables.
Advisors/Committee Members: Nabil Chalhoub.
Subjects/Keywords: Flexible Robotic Arm; Fuzzy Sliding Mode Observer; Marine Vessels Sliding Mode Control; Non-Collocated Systems; Sliding Mode Controller; Sliding Mode Observer; Mechanical Engineering
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APA (6th Edition):
Mastory, C. (2014). Non-Linear Robust Observers For Systems With Non-Collocated Sensors And Actuators. (Doctoral Dissertation). Wayne State University. Retrieved from https://digitalcommons.wayne.edu/oa_dissertations/991
Chicago Manual of Style (16th Edition):
Mastory, Constantine. “Non-Linear Robust Observers For Systems With Non-Collocated Sensors And Actuators.” 2014. Doctoral Dissertation, Wayne State University. Accessed February 24, 2021.
https://digitalcommons.wayne.edu/oa_dissertations/991.
MLA Handbook (7th Edition):
Mastory, Constantine. “Non-Linear Robust Observers For Systems With Non-Collocated Sensors And Actuators.” 2014. Web. 24 Feb 2021.
Vancouver:
Mastory C. Non-Linear Robust Observers For Systems With Non-Collocated Sensors And Actuators. [Internet] [Doctoral dissertation]. Wayne State University; 2014. [cited 2021 Feb 24].
Available from: https://digitalcommons.wayne.edu/oa_dissertations/991.
Council of Science Editors:
Mastory C. Non-Linear Robust Observers For Systems With Non-Collocated Sensors And Actuators. [Doctoral Dissertation]. Wayne State University; 2014. Available from: https://digitalcommons.wayne.edu/oa_dissertations/991
University of Connecticut
10.
Bacon, Mark.
Robust Region Tracking in Multi-Agent Systems Utilizing Sliding Mode Control: Theory and Applications.
Degree: MS, Mechanical Engineering, 2011, University of Connecticut
URL: https://opencommons.uconn.edu/gs_theses/33
► This thesis presents a methodology to bring controlled agents within a moving region despite agent interaction dynamics, uncertain forces and parameter variation. The logic…
(more)
▼ This thesis presents a methodology to bring controlled agents within a moving region despite agent interaction dynamics, uncertain forces and parameter variation. The logic is derived from traditional
Sliding Mode Control theory with an expanded boundary layer which allows position deviation from the region center to specified bounds. As an example of the utility of this
control, multiple methods of herding (controlling passive agents by appropriate positioning of controlled agents) are presented.
Advisors/Committee Members: Jiong Tang, Horea Ilies, Chengyu Cao, Nejat Olgac.
Subjects/Keywords: Multi-Agent; Sliding Mode Control; Decentralized Control; Robust Control
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APA (6th Edition):
Bacon, M. (2011). Robust Region Tracking in Multi-Agent Systems Utilizing Sliding Mode Control: Theory and Applications. (Masters Thesis). University of Connecticut. Retrieved from https://opencommons.uconn.edu/gs_theses/33
Chicago Manual of Style (16th Edition):
Bacon, Mark. “Robust Region Tracking in Multi-Agent Systems Utilizing Sliding Mode Control: Theory and Applications.” 2011. Masters Thesis, University of Connecticut. Accessed February 24, 2021.
https://opencommons.uconn.edu/gs_theses/33.
MLA Handbook (7th Edition):
Bacon, Mark. “Robust Region Tracking in Multi-Agent Systems Utilizing Sliding Mode Control: Theory and Applications.” 2011. Web. 24 Feb 2021.
Vancouver:
Bacon M. Robust Region Tracking in Multi-Agent Systems Utilizing Sliding Mode Control: Theory and Applications. [Internet] [Masters thesis]. University of Connecticut; 2011. [cited 2021 Feb 24].
Available from: https://opencommons.uconn.edu/gs_theses/33.
Council of Science Editors:
Bacon M. Robust Region Tracking in Multi-Agent Systems Utilizing Sliding Mode Control: Theory and Applications. [Masters Thesis]. University of Connecticut; 2011. Available from: https://opencommons.uconn.edu/gs_theses/33
NSYSU
11.
Tsai, Yung-Huei.
Sliding-Mode Quantized Control of a Class-D Audio Power Amplifier.
Degree: Master, Electrical Engineering, 2008, NSYSU
URL: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0829108-065148
► This thesis focuses on the design and implementation of a three-level Class D audio amplifier by applying recently developed sliding-mode quantized control. The designed controller,…
(more)
▼ This thesis focuses on the design and implementation of a three-level Class D audio amplifier by applying recently developed
sliding-
mode quantized
control. The designed controller, which consists of the analog filters and logic circuit, switches an H-bridge Class-D amplifier with a lowpass LC filter and operates it in the
sliding mode, in order to achieve desired stability and high fidelity in the audio band. The experimental result shows that the lowest THD+N (total harmonic distortion plus noise) can be as low as 0.02% at 1 kHz. The performance is better than most of the available commercial products.
Advisors/Committee Members: Jih-ching Chiu (chair), Yuan-Liang Hsu (chair), Shiang-Hwua Yu (committee member), Chih-Chiang Cheng (chair).
Subjects/Keywords: class D audio power amplifier; sliding mode quantized control; quantized control
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APA (6th Edition):
Tsai, Y. (2008). Sliding-Mode Quantized Control of a Class-D Audio Power Amplifier. (Thesis). NSYSU. Retrieved from http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0829108-065148
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Tsai, Yung-Huei. “Sliding-Mode Quantized Control of a Class-D Audio Power Amplifier.” 2008. Thesis, NSYSU. Accessed February 24, 2021.
http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0829108-065148.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Tsai, Yung-Huei. “Sliding-Mode Quantized Control of a Class-D Audio Power Amplifier.” 2008. Web. 24 Feb 2021.
Vancouver:
Tsai Y. Sliding-Mode Quantized Control of a Class-D Audio Power Amplifier. [Internet] [Thesis]. NSYSU; 2008. [cited 2021 Feb 24].
Available from: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0829108-065148.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Tsai Y. Sliding-Mode Quantized Control of a Class-D Audio Power Amplifier. [Thesis]. NSYSU; 2008. Available from: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0829108-065148
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Rochester Institute of Technology
12.
Schulken, Eric.
Investigations of Model-Free Sliding Mode Control Algorithms including Application to Autonomous Quadrotor Flight.
Degree: MS, Mechanical Engineering, 2017, Rochester Institute of Technology
URL: https://scholarworks.rit.edu/theses/9626
► Sliding mode control is a robust nonlinear control algorithm that has been used to implement tracking controllers for unmanned aircraft systems that are robust…
(more)
▼ Sliding mode control is a robust nonlinear
control algorithm that has been used to implement tracking controllers for unmanned aircraft systems that are robust to modeling uncertainty and exogenous disturbances, thereby providing excellent performance for autonomous operation. A significant advance in the application of
sliding mode control for unmanned aircraft systems would be adaptation of a model-free
sliding mode control algorithm, since the most complex and time-consuming aspect of implementation of
sliding mode control is the derivation of the
control law with incorporation of the system model, a process required to be performed for each individual application of
sliding mode control. The performance of four different model-free
sliding mode control algorithms was compared in simulation using a variety of aerial system models and real-world disturbances (e.g. the effects of discretization and state estimation). The two best performing algorithms were shown to exhibit very similar behavior. These two algorithms were implemented on a quadrotor (both in simulation and using real-world hardware) and the performance was compared to a traditional PID-based controller using the same state estimation algorithm and
control setup. Simulation results show the model-free
sliding mode control algorithms exhibit similar performance to PID controllers without the tedious tuning process. Comparison between the two model-free
sliding mode control algorithms showed very similar performance as measured by the quadratic means of tracking errors. Flight testing showed that while a model-free
sliding mode control algorithm is capable of controlling realworld hardware, further characterization and significant improvements are required before it is a viable alternative to conventional
control algorithms. Large tracking errors were observed for both the model-free
sliding mode control and PID based flight controllers and the performance was characterized as unacceptable for most applications. The poor performance of both controllers suggests tracking errors could be attributed to errors in state estimation, which effectively introduce unknown dynamics into the feedback loop. Further testing with improved state estimation would allow for more conclusions to be drawn about the performance characteristics of the model-free
sliding mode control algorithms.
Advisors/Committee Members: Agamemnon Crassidis.
Subjects/Keywords: Flight control; Model-free; Nonlinear; Quadrotor; Robust; Sliding mode control
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APA (6th Edition):
Schulken, E. (2017). Investigations of Model-Free Sliding Mode Control Algorithms including Application to Autonomous Quadrotor Flight. (Masters Thesis). Rochester Institute of Technology. Retrieved from https://scholarworks.rit.edu/theses/9626
Chicago Manual of Style (16th Edition):
Schulken, Eric. “Investigations of Model-Free Sliding Mode Control Algorithms including Application to Autonomous Quadrotor Flight.” 2017. Masters Thesis, Rochester Institute of Technology. Accessed February 24, 2021.
https://scholarworks.rit.edu/theses/9626.
MLA Handbook (7th Edition):
Schulken, Eric. “Investigations of Model-Free Sliding Mode Control Algorithms including Application to Autonomous Quadrotor Flight.” 2017. Web. 24 Feb 2021.
Vancouver:
Schulken E. Investigations of Model-Free Sliding Mode Control Algorithms including Application to Autonomous Quadrotor Flight. [Internet] [Masters thesis]. Rochester Institute of Technology; 2017. [cited 2021 Feb 24].
Available from: https://scholarworks.rit.edu/theses/9626.
Council of Science Editors:
Schulken E. Investigations of Model-Free Sliding Mode Control Algorithms including Application to Autonomous Quadrotor Flight. [Masters Thesis]. Rochester Institute of Technology; 2017. Available from: https://scholarworks.rit.edu/theses/9626
13.
Huber, Olivier.
Analyse et implémentation du contrôle par modes glissants en temps discret : Discrete sliding mode control : analysis and implementation.
Degree: Docteur es, Automatique et productique, 2015, Université Grenoble Alpes (ComUE)
URL: http://www.theses.fr/2015GREAT042
► Le contrôle par mode glissant est une technique d'automatique qui possède une longue histoire, la littérature remontant jusqu'au année 50. Son essence est la suivante…
(more)
▼ Le contrôle par
mode glissant est une technique d'automatique qui possède une longue histoire, la littérature remontant jusqu'au année 50. Son essence est la suivante : le contrôle est définit comme étant l'image d'une fonction discontinue de la variable de glissement, contraignant le système à évolué sur une variété, le système glisse alors dessus, d'où le nom. Cette variable de glissement est elle définie à partir de l'état du système. Les développements ont mené à la constitution d'une théorie bien établie à propos de cette technique, avec de nombreuses propriétés théoriques fort intéressante. Toutefois ceci ne porte que sur la version continue, c'est à dire quand le contrôle peut changer de valeur à chaque instant. En comparaison la version discrète du ce contrôleur est définie par le fait que la valeur du contrôle ne peut changer qu'à des instants isolés discrets. On a alors une fonction en escalier, constante sur la période d'échantillonnage. Cette situation est rencontrée par exemple lorsque le contrôleur est implémenté à l'aide d'un micro-contrôleur, ce qui est le cas dans nombre d'applications industrielles. Le principal problème avec le
mode glissant est l'apparition d'un phénomène largement indésirable, le chattering (ou broutement) avec la version discrète du contrôleur, où même déjà en simulation. Dans ce dernier cas, nous appelons ceci du chattering numérique que nous attribuons à une mauvaise discrétisation du contrôle. L'approche développée ici se focalise sur ce point et est largement inspirée par les travaux effectués en mécanique non régulière, où ce type de comportement a aussi été observé lors de la simulation de système avec frottements et/où impacts. L'idée principale est de discretisé le contrôle de manière implicite et non explicite. Ceci permet d'éliminer le chattering numérique dans les cas simples (systèmes linéaires par exemple) où bien de le réduire grandement. Pour mener à bien l'analyse, des outils provenant de l'analyse convexe ainsi que des inégalités variationnelles en dimension finie sont utilisés. Le contrôleur proposé possède des propriétés intéressantes et proches de celles du temps continu. Ainsi on peut montrer que la variable de glissement est régie par une dynamique stable en temps finie, avec une fonction de Lyapunov. Le contrôle discret convergence vers celui du cas continu quand la période d'échantillonnage tends vers 0. Une atténuation d'éventuelles perturbations de type "matching" peut être établie. Ces travaux ont essentiellement portés sur le contrôle par
mode glissant classique. L'algorithme dit twisting a pu être discrétisé avec la même technique et sa stabilité en temps finie grâce à une fonction de Lyapunov a pu être montrée. Ces propriétés ont été vérifiée en simulation, mais aussi de manière expérimentale. Ainsi des essais ont pu être menés sur deux banc d'essai: le premier est basé sur un système electropneumatique où à la fois le contrôle par
mode glissant classique ainsi que le twisting ont pu être implémentés. L'objectif étant de suivre une trajectoire de…
Advisors/Committee Members: Brogliato, Bernard (thesis director), Acary, Vincent (thesis director).
Subjects/Keywords: Contrôle par mode glissant; Commande robuste; Mode glissant en temps discret; Inclusion différentielle; Inégalités variationnelles; Sliding mode control; Robust control; Discrete-time sliding mode control; Differential inclusion; ,variational inequalities; 620
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APA (6th Edition):
Huber, O. (2015). Analyse et implémentation du contrôle par modes glissants en temps discret : Discrete sliding mode control : analysis and implementation. (Doctoral Dissertation). Université Grenoble Alpes (ComUE). Retrieved from http://www.theses.fr/2015GREAT042
Chicago Manual of Style (16th Edition):
Huber, Olivier. “Analyse et implémentation du contrôle par modes glissants en temps discret : Discrete sliding mode control : analysis and implementation.” 2015. Doctoral Dissertation, Université Grenoble Alpes (ComUE). Accessed February 24, 2021.
http://www.theses.fr/2015GREAT042.
MLA Handbook (7th Edition):
Huber, Olivier. “Analyse et implémentation du contrôle par modes glissants en temps discret : Discrete sliding mode control : analysis and implementation.” 2015. Web. 24 Feb 2021.
Vancouver:
Huber O. Analyse et implémentation du contrôle par modes glissants en temps discret : Discrete sliding mode control : analysis and implementation. [Internet] [Doctoral dissertation]. Université Grenoble Alpes (ComUE); 2015. [cited 2021 Feb 24].
Available from: http://www.theses.fr/2015GREAT042.
Council of Science Editors:
Huber O. Analyse et implémentation du contrôle par modes glissants en temps discret : Discrete sliding mode control : analysis and implementation. [Doctoral Dissertation]. Université Grenoble Alpes (ComUE); 2015. Available from: http://www.theses.fr/2015GREAT042
The Ohio State University
14.
Lee, Hoon.
Chattering suppression in sliding mode control
system.
Degree: PhD, Mechanical Engineering, 2007, The Ohio State University
URL: http://rave.ohiolink.edu/etdc/view?acc_num=osu1192823756
► In this dissertation, various known methods to decrease level of chattering caused by unmodeled dynamics are reviewed. And an analysis to understand system behavior in…
(more)
▼ In this dissertation, various known methods to
decrease level of chattering caused by unmodeled dynamics are
reviewed. And an analysis to understand system behavior in the
presence of such unmodeled dynamics and to estimate the amplitude
and frequency of chattering using describing function is provided.
It is shown that the amplitude is proportional to relay gain of
discontinuous
control, and the frequency is inversely proportional
to the time constant of unmodeled dynamics. Two methods are
proposed to change switching magnitude of
sliding mode control to
reduce chattering. Based on the original idea of Variable Structure
System, first method is to use adaptive relay gain which depends on
system states. Second method varies switching gain of
sliding mode
control along the equivalent
control. System behaviors with the two
controller designs are analyzed, and it is demonstrated by
simulations that chattering can be significantly reduced. For
systems controlled by on/off switches or fixed switching gain only,
chattering also appears if switching frequency is restricted at a
finite value. To suppress chattering in such case, a methodology
based on the harmonic cancellation is proposed. To fix switching
frequency and to obtain desired phase shift between any two
consecutive phases, hysteresis loops with adaptive width are
implemented in switching elements. The design principle and
procedure of the methodology are suggested, and chattering
reduction effect of the method is demonstrated by various
simulation results. It is also shown that the method using multiple
phases may decrease chattering caused by unmodeled dynamics as well
with the equivalent width of hysteresis which makes entire phases
have the same frequency.
Advisors/Committee Members: Utkin, Vadim (Advisor).
Subjects/Keywords: Sliding Mode Control; Sliding Mode; Chattering; Ripple; Power Converter
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Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Lee, H. (2007). Chattering suppression in sliding mode control
system. (Doctoral Dissertation). The Ohio State University. Retrieved from http://rave.ohiolink.edu/etdc/view?acc_num=osu1192823756
Chicago Manual of Style (16th Edition):
Lee, Hoon. “Chattering suppression in sliding mode control
system.” 2007. Doctoral Dissertation, The Ohio State University. Accessed February 24, 2021.
http://rave.ohiolink.edu/etdc/view?acc_num=osu1192823756.
MLA Handbook (7th Edition):
Lee, Hoon. “Chattering suppression in sliding mode control
system.” 2007. Web. 24 Feb 2021.
Vancouver:
Lee H. Chattering suppression in sliding mode control
system. [Internet] [Doctoral dissertation]. The Ohio State University; 2007. [cited 2021 Feb 24].
Available from: http://rave.ohiolink.edu/etdc/view?acc_num=osu1192823756.
Council of Science Editors:
Lee H. Chattering suppression in sliding mode control
system. [Doctoral Dissertation]. The Ohio State University; 2007. Available from: http://rave.ohiolink.edu/etdc/view?acc_num=osu1192823756
NSYSU
15.
Li, Chun-wei.
Phase-Locked Double-Loop Speed Regulation of a Temperature controlled Fan.
Degree: Master, Electrical Engineering, 2009, NSYSU
URL: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0824109-035945
► Cooling fans, widely used in desktop and laptop computers, have been designed toward the tendency of low noise and low consumption power. This thesis purposes…
(more)
▼ Cooling fans, widely used in desktop and laptop computers, have been designed toward the tendency of low noise and low consumption power. This thesis purposes a efficient low-noise double-loop
control method to regulate the fan speed according to environmental temperature. The proposed controller consists of three parts. The first part is a command generator which generates a train of pulses with its frequency varying proportionally with temperature. The second part is a phase locked loop which intends to synchronize the command pulses with the pulses fed back from the Hall IC of the motor. The third part is an inner loop quantized
control that switches the fan according to the error signal sent by the phase locked loop. This double-loop design of feedback achieves accurate fan speed regulation with the nice properties of low noise and high efficiency.
The experimental results show an average regulation error of 0.4188% in the fan speed range of 306.6~1953 R.P.M which corresponds to the temperature range 10~70 Celsius.
Advisors/Committee Members: Tsang-Yi Wang (chair), none (chair), Shiang-Hwua Yu (committee member), Cheng-Yi Chen (chair).
Subjects/Keywords: Sliding Mode; Relay Control; BLDC; Phase-Locked Loop
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APA ·
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MLA ·
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Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Li, C. (2009). Phase-Locked Double-Loop Speed Regulation of a Temperature controlled Fan. (Thesis). NSYSU. Retrieved from http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0824109-035945
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Li, Chun-wei. “Phase-Locked Double-Loop Speed Regulation of a Temperature controlled Fan.” 2009. Thesis, NSYSU. Accessed February 24, 2021.
http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0824109-035945.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Li, Chun-wei. “Phase-Locked Double-Loop Speed Regulation of a Temperature controlled Fan.” 2009. Web. 24 Feb 2021.
Vancouver:
Li C. Phase-Locked Double-Loop Speed Regulation of a Temperature controlled Fan. [Internet] [Thesis]. NSYSU; 2009. [cited 2021 Feb 24].
Available from: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0824109-035945.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Li C. Phase-Locked Double-Loop Speed Regulation of a Temperature controlled Fan. [Thesis]. NSYSU; 2009. Available from: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0824109-035945
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
NSYSU
16.
Chen, Li-lun.
Design of Adaptive Sliding Mode Observers for Nonlinear Systems with Mismatched Perturbations.
Degree: Master, Electrical Engineering, 2015, NSYSU
URL: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0607115-143727
► Based on the Lyapunov stability theorem, a sliding mode observer is proposed in this thesis for a class of single-input-two-output uncertain nonlinear systems with mismatched…
(more)
▼ Based on the Lyapunov stability theorem, a
sliding mode observer is proposed in this thesis for a class of single-input-two-output uncertain nonlinear systems with mismatched disturbances. A
sliding surface function is firstly designed for the proposed observer with adaptive mechanisms embedded, so that the upper bounds of perturbations are not required to be known in advance, and the first state estimation error is able to reach zero within a finite time. Secondly stability analysis is demonstrated to ensure that the rest of state estimation errors have the ability to achieve asymptotic stability. A numerical example and a practical example are illustrated for showing the feasibility of the proposed methodology.
Advisors/Committee Members: Chi-Cheng Cheng (chair), Chi-Cheng Cheng (chair), Chung-Yao Kao (chair), Chih-Chiang Cheng (committee member).
Subjects/Keywords: asymptotic stability; Lyapunov; sliding mode control; observer; mismatch
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APA ·
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MLA ·
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to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Chen, L. (2015). Design of Adaptive Sliding Mode Observers for Nonlinear Systems with Mismatched Perturbations. (Thesis). NSYSU. Retrieved from http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0607115-143727
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Chen, Li-lun. “Design of Adaptive Sliding Mode Observers for Nonlinear Systems with Mismatched Perturbations.” 2015. Thesis, NSYSU. Accessed February 24, 2021.
http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0607115-143727.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Chen, Li-lun. “Design of Adaptive Sliding Mode Observers for Nonlinear Systems with Mismatched Perturbations.” 2015. Web. 24 Feb 2021.
Vancouver:
Chen L. Design of Adaptive Sliding Mode Observers for Nonlinear Systems with Mismatched Perturbations. [Internet] [Thesis]. NSYSU; 2015. [cited 2021 Feb 24].
Available from: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0607115-143727.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Chen L. Design of Adaptive Sliding Mode Observers for Nonlinear Systems with Mismatched Perturbations. [Thesis]. NSYSU; 2015. Available from: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0607115-143727
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
University of Alberta
17.
Hodgson, Sean E.
Sliding-Mode Control of Pneumatic Actuators for Robots and
Telerobots.
Degree: MS, Department of Electrical and Computer
Engineering, 2011, University of Alberta
URL: https://era.library.ualberta.ca/files/9593tv63k
► For robotic systems that use pneumatic actuators with on/off solenoid valves, sliding-mode control laws for precise position control and low switching (open/close) activity of the…
(more)
▼ For robotic systems that use pneumatic actuators with
on/off solenoid valves, sliding-mode control laws for precise
position control and low switching (open/close) activity of the
valves are presented. A pneumatic actuator has two chambers with a
total of four on/off solenoid valves. Thus, there are sixteen
possible combinations for the valves' on/off positions. Only seven
of these sixteen "operating modes" are considered both functional
and unique. While previous work has focused on three-mode
closed-loop control of such an actuator, this thesis extends the
three-mode control to seven-mode control. This thesis also extends
the application from the position control of a single robot to the
bilateral control of a telerobot. We introduce and compare two
novel seven-mode controllers for a pneumatic actuator. The first is
a sliding-mode controller utilizing a switching function that is a
function of the system states. The second is a sliding-mode,
pulse-width-modulation (PWM) controller utilizing a time-averaged
model of the open-loop system. Both controllers minimize the
tracking error by employing the operating modes that have the
necessary and sufficient amounts of drive energy and, thus, involve
reduced switching activity while maintaining satisfactory tracking
performance. The performance of the proposed control design is
experimentally verified on a single pneumatic actuator. Also, the
seven-mode position control is extended to force control to make
seven-mode teleoperation control possible. Experimental
verification on a pair of pneumatic actuators utilizing
position-position based and force-position based teleoperation
control to verify the validity of our theoretical results. Overall,
it is found that leveraging the additional modes of operation leads
to more efficient and smoother control in both the single-actuator
and the dual-actuator teleoperated pneumatic systems.
Subjects/Keywords: On/off solenoid valve; Sliding-mode control; Pneumatic actuator; Teleoperation
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APA (6th Edition):
Hodgson, S. E. (2011). Sliding-Mode Control of Pneumatic Actuators for Robots and
Telerobots. (Masters Thesis). University of Alberta. Retrieved from https://era.library.ualberta.ca/files/9593tv63k
Chicago Manual of Style (16th Edition):
Hodgson, Sean E. “Sliding-Mode Control of Pneumatic Actuators for Robots and
Telerobots.” 2011. Masters Thesis, University of Alberta. Accessed February 24, 2021.
https://era.library.ualberta.ca/files/9593tv63k.
MLA Handbook (7th Edition):
Hodgson, Sean E. “Sliding-Mode Control of Pneumatic Actuators for Robots and
Telerobots.” 2011. Web. 24 Feb 2021.
Vancouver:
Hodgson SE. Sliding-Mode Control of Pneumatic Actuators for Robots and
Telerobots. [Internet] [Masters thesis]. University of Alberta; 2011. [cited 2021 Feb 24].
Available from: https://era.library.ualberta.ca/files/9593tv63k.
Council of Science Editors:
Hodgson SE. Sliding-Mode Control of Pneumatic Actuators for Robots and
Telerobots. [Masters Thesis]. University of Alberta; 2011. Available from: https://era.library.ualberta.ca/files/9593tv63k
Delft University of Technology
18.
Janse, E.H. (author).
Anomaly Detection in Intersection Control: Sliding Mode Observer Based Anomaly Detection in Virtual Platooning Enabled Intersection Control.
Degree: 2020, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:9ce8cace-1824-4111-87f5-e45572771a3d
► Road intersections have a large impact on road accidents and travel delay. Applying infrastructure, such as stop signs and traffic lights, are supposed to prevent…
(more)
▼ Road intersections have a large impact on road accidents and travel delay. Applying infrastructure, such as stop signs and traffic lights, are supposed to prevent collisions on the intersection. However, such methods contribute to the travel delay, while accidents still occur due to human errors. Considering the rise of automation within vehicles, the automation of intersections becomes possible. Vehicles exchange information with each other (distributed techniques) or with a central unit (centralized techniques) to determine the velocity profile needed to efficiently cross the intersection without causing any collisions. This information exchange is established through the creation of spontaneous wireless networks between vehicles and infrastructure, also known as a Vehicular Ad-Hoc Network (VANET). However, the addition of wireless communication to autonomous vehicles presents a dangerous vulnerability to cyber attacks. In the literature, many studies investigate what types of cyber attacks are most likely to occur on the VANET. From these studies, it is chosen to test the cyber attack called "false data injection" on Virtual Platooning based Intersection
Control. It is shown in simulations that an alteration in the broadcasted messages for a duration of 1.3 seconds already leads to a collision on the intersection. In order to prevent such events from happening, a
Sliding Mode Observer (SMO) is designed to monitor the received data from the surrounding vehicles. Treating the false injected data as an unknown input to the system, the SMO is designed to reconstruct the anomalous data. The accuracy of the unknown input reconstruction using an SMO depends on how well the model describes the dynamics of the vehicles. Thus the SMO is designed for both a linear as well as a non-linear vehicle model. To analyze the performance of the SMO, the observer is applied to both simulations and experiments. Under the assumption that the vehicles can measure the relative velocity to each other, both the simulations and the experiments show promising results.
Advisors/Committee Members: Ferrari, R. (mentor), Jarmolowitz, Fabian (mentor), Keijzer, T. (mentor), van Wingerden, J.W. (graduation committee), Ferranti, L. (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: Intersection Control; Sliding Mode Observer; Anomaly Detection; Autonomous vehicles; Anki overdrive
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APA (6th Edition):
Janse, E. H. (. (2020). Anomaly Detection in Intersection Control: Sliding Mode Observer Based Anomaly Detection in Virtual Platooning Enabled Intersection Control. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:9ce8cace-1824-4111-87f5-e45572771a3d
Chicago Manual of Style (16th Edition):
Janse, E H (author). “Anomaly Detection in Intersection Control: Sliding Mode Observer Based Anomaly Detection in Virtual Platooning Enabled Intersection Control.” 2020. Masters Thesis, Delft University of Technology. Accessed February 24, 2021.
http://resolver.tudelft.nl/uuid:9ce8cace-1824-4111-87f5-e45572771a3d.
MLA Handbook (7th Edition):
Janse, E H (author). “Anomaly Detection in Intersection Control: Sliding Mode Observer Based Anomaly Detection in Virtual Platooning Enabled Intersection Control.” 2020. Web. 24 Feb 2021.
Vancouver:
Janse EH(. Anomaly Detection in Intersection Control: Sliding Mode Observer Based Anomaly Detection in Virtual Platooning Enabled Intersection Control. [Internet] [Masters thesis]. Delft University of Technology; 2020. [cited 2021 Feb 24].
Available from: http://resolver.tudelft.nl/uuid:9ce8cace-1824-4111-87f5-e45572771a3d.
Council of Science Editors:
Janse EH(. Anomaly Detection in Intersection Control: Sliding Mode Observer Based Anomaly Detection in Virtual Platooning Enabled Intersection Control. [Masters Thesis]. Delft University of Technology; 2020. Available from: http://resolver.tudelft.nl/uuid:9ce8cace-1824-4111-87f5-e45572771a3d
Northeastern University
19.
Candelino, Nicholas.
A Systematic, Well-formulated Control System Design And Modeling Paradigm Based On Perceived System Traits.
Degree: PhD, Department of Mechanical and Industrial Engineering, 2019, Northeastern University
URL: http://hdl.handle.net/2047/D20324042
► The approach taken during the development of control systems is frequently driven by a desire to balance challenges in system modeling with roadblocks and difficulties…
(more)
▼ The approach taken during the development of control systems is frequently driven by a desire to balance challenges in system modeling with roadblocks and difficulties in controller design. Such a balance is often established in an iterative manner according to the perceived performance of the system - compared to objectives and specifications - as designs progress from computational models to physical implementations. To accelerate this process, it would be beneficial to establish methods of identifying suitable directions for both the modeling and control tasks from an early stage - limiting the iterations required. In this work, we utilize our ongoing research to study this problem from three directions: (1) the development of a physically motivated model for partially understood systems with significant unmodeled dynamics and disturbances; (2) the selection of control algorithms to satisfy performance objectives in both the modeled and physical systems; and (3) investigation into the characteristic behaviors of control algorithms. The work performed along these research directions is shared across three primary activities: (1) analytical and experimental modeling and control of a prototype electromechanical actuator system, (2) an extensive review of existing literature on the computational modeling and physiological closed-loop control of type 1 diabetes, and (3) the theoretical and numerical study of the sliding mode control with perturbation estimation control algorithm. Through these investigations, we contemplate the question of model and controller suitability posed in the following and aim to develop some initial guidelines for well-formulated designs. Further, we attempt to identify several important characteristics and methodologies that can be used to aid the decision making processes for both modeling and control.
Subjects/Keywords: artificial pancreas; control; modeling; perturbation estimation; sliding mode; systems; Mechanical engineering
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APA (6th Edition):
Candelino, N. (2019). A Systematic, Well-formulated Control System Design And Modeling Paradigm Based On Perceived System Traits. (Doctoral Dissertation). Northeastern University. Retrieved from http://hdl.handle.net/2047/D20324042
Chicago Manual of Style (16th Edition):
Candelino, Nicholas. “A Systematic, Well-formulated Control System Design And Modeling Paradigm Based On Perceived System Traits.” 2019. Doctoral Dissertation, Northeastern University. Accessed February 24, 2021.
http://hdl.handle.net/2047/D20324042.
MLA Handbook (7th Edition):
Candelino, Nicholas. “A Systematic, Well-formulated Control System Design And Modeling Paradigm Based On Perceived System Traits.” 2019. Web. 24 Feb 2021.
Vancouver:
Candelino N. A Systematic, Well-formulated Control System Design And Modeling Paradigm Based On Perceived System Traits. [Internet] [Doctoral dissertation]. Northeastern University; 2019. [cited 2021 Feb 24].
Available from: http://hdl.handle.net/2047/D20324042.
Council of Science Editors:
Candelino N. A Systematic, Well-formulated Control System Design And Modeling Paradigm Based On Perceived System Traits. [Doctoral Dissertation]. Northeastern University; 2019. Available from: http://hdl.handle.net/2047/D20324042
Northeastern University
20.
Jiang, Nianyu.
A robust-adaptive control strategy for gear bearing drive systems.
Degree: MS, Department of Mechanical and Industrial Engineering, 2018, Northeastern University
URL: http://hdl.handle.net/2047/D20291353
► In modern industrial engineering such as space robots, assembly systems and transportation vehicles, a Gear Bearing Drive (GBD) transmission, with the potential to produce up…
(more)
▼ In modern industrial engineering such as space robots, assembly systems and transportation vehicles, a Gear Bearing Drive (GBD) transmission, with the potential to produce up to 5000:1 torque ratio in a compact size, can be of great interest. However, in a practical actuation system consisting of actuator, GBD and workload, ever-present nonlinearities such as disturbances and perturbations can increase the complexity of the modeling process as well as difficulty of the control design.; To reduce such complexities, a simplified model of the actuation plant is developed by linearizing all nonlinearities and numerically estimating the disturbances and perturbations inside the plant. For this, a robust-adaptive control platform, especially designed to deal with system uncertainties and unmodeled dynamics, is selected, analyzed and implemented in real-time. In addition, due to the initially unknown parameters, the adaptive part of the controller must adapt to the system parameters variations and changes. Finally, to guarantee asymptotic convergence, a projection operator is developed and combined with the adaptation law. Furthermore, an optimal combination of proportional-integral-derivative (PID) and robust-adaptive sliding mode control (RASMC) is selected and a novel controller is developed and experimentally implemented and verified.; The experimental results of system response are compared to the simulation results to assess control performance and response characteristics. This research suggests that RASMC can ensure its effectiveness in a nonlinear plant with uncertain parameters and unmodeled dynamics and produce a satisfactory experimental performance with minimum settling time and overshoot. Future work is required to explain unpredictable piecewise behavior of the open-loop speed response and other ignored modeling aspects and nonlinearities.
Subjects/Keywords: gear bearing drive; proportional-integral-derivative; robust-adaptive sliding mode control
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APA ·
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APA (6th Edition):
Jiang, N. (2018). A robust-adaptive control strategy for gear bearing drive systems. (Masters Thesis). Northeastern University. Retrieved from http://hdl.handle.net/2047/D20291353
Chicago Manual of Style (16th Edition):
Jiang, Nianyu. “A robust-adaptive control strategy for gear bearing drive systems.” 2018. Masters Thesis, Northeastern University. Accessed February 24, 2021.
http://hdl.handle.net/2047/D20291353.
MLA Handbook (7th Edition):
Jiang, Nianyu. “A robust-adaptive control strategy for gear bearing drive systems.” 2018. Web. 24 Feb 2021.
Vancouver:
Jiang N. A robust-adaptive control strategy for gear bearing drive systems. [Internet] [Masters thesis]. Northeastern University; 2018. [cited 2021 Feb 24].
Available from: http://hdl.handle.net/2047/D20291353.
Council of Science Editors:
Jiang N. A robust-adaptive control strategy for gear bearing drive systems. [Masters Thesis]. Northeastern University; 2018. Available from: http://hdl.handle.net/2047/D20291353
University of Technology, Sydney
21.
Nguyen, TD.
Time-delay systems : stability, sliding mode control and state estimation.
Degree: 2014, University of Technology, Sydney
URL: http://hdl.handle.net/10453/30383
► Time delays and external disturbances are unavoidable in many practical control systems such as robotic manipulators, aircraft, manufacturing and process control systems and it is…
(more)
▼ Time delays and external disturbances are unavoidable in many practical control systems such as robotic manipulators, aircraft, manufacturing and process control systems and it is often a source of instability or oscillation. This thesis is concerned with the stability, sliding mode control and state estimation problems of time-delay systems. Throughout the thesis, the Lyapunov-Krasovskii (L-K) method, in conjunction with the Linear Matrix Inequality (LMI) techniques is mainly used for analysis and design.
Firstly, a brief survey on recent developments of the L-K method for stability analysis, discrete-time sliding mode control design and linear functional observer design of time-delay systems, is presented. Then, the problem of exponential stability is addressed for a class of linear discrete-time systems with interval time-varying delay. Some improved delay-dependent stability conditions of linear discrete-time systems with interval time-varying delay are derived in terms of linear matrix inequalities.
Secondly, the problem of reachable set bounding, essential information for the control design, is tackled for linear systems with time-varying delay and bounded disturbances. Indeed, minimisation of the reachable set bound can generally result in a controller with a larger gain to achieve better performance for the uncertain dynamical system under control. Based on the L-K method, combined with the delay decomposition approach, sufficient conditions for the existence of ellipsoid-based bounds of reachable sets of a class of linear systems with interval time-varying delay and bounded disturbances, are derived in terms of matrix inequalities. To obtain a smaller bound, a new idea is proposed to minimise the projection distances of the ellipsoids on axes, with respect to various convergence rates, instead of minimising its radius with a single exponential rate. Therefore, the smallest possible bound can be obtained from the intersection of these ellipsoids.
This study also addresses the problem of robust sliding mode control for a class of linear discrete-time systems with time-varying delay and unmatched external disturbances. By using the L-K method, in combination with the delay decomposition technique and the reciprocally convex approach, new LMI-based conditions for the existence of a stable sliding surface are derived. These conditions can deal with the effects of time-varying delay and unmatched external disturbances while guaranteeing that all the state trajectories of the reduced-order system are exponentially convergent to a ball with a minimised radius. Robust discrete-time quasi-sliding mode control scheme is then proposed to drive the state trajectories of the closed-loop system towards the prescribed sliding surface in a finite time and maintain it there after subsequent time.
Finally, the state estimation problem is studied for the challenging case when both the system’s output and input are subject to time delays. By using the information of the multiple delayed output and delayed input, a new…
Subjects/Keywords: Time-delay systems.; Stability analysis.; Sliding mode control.
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APA (6th Edition):
Nguyen, T. (2014). Time-delay systems : stability, sliding mode control and state estimation. (Thesis). University of Technology, Sydney. Retrieved from http://hdl.handle.net/10453/30383
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Nguyen, TD. “Time-delay systems : stability, sliding mode control and state estimation.” 2014. Thesis, University of Technology, Sydney. Accessed February 24, 2021.
http://hdl.handle.net/10453/30383.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Nguyen, TD. “Time-delay systems : stability, sliding mode control and state estimation.” 2014. Web. 24 Feb 2021.
Vancouver:
Nguyen T. Time-delay systems : stability, sliding mode control and state estimation. [Internet] [Thesis]. University of Technology, Sydney; 2014. [cited 2021 Feb 24].
Available from: http://hdl.handle.net/10453/30383.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Nguyen T. Time-delay systems : stability, sliding mode control and state estimation. [Thesis]. University of Technology, Sydney; 2014. Available from: http://hdl.handle.net/10453/30383
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
University of New South Wales
22.
Karunanayake, Chanditha.
Suppression of Sub-Synchronous Resonance and Torsional Oscillations in Doubly Fed Induction Generator Based Wind Turbines.
Degree: Electrical Engineering & Telecommunications, 2020, University of New South Wales
URL: http://handle.unsw.edu.au/1959.4/69110
;
https://unsworks.unsw.edu.au/fapi/datastream/unsworks:70391/SOURCE02?view=true
► This thesis proposes novel approaches for mitigating Sub-Synchronous Resonance (SSR) and torsional vibrations in Doubly Fed Induction Generator (DFIG) based wind turbines.The control approach proposed…
(more)
▼ This thesis proposes novel approaches for mitigating Sub-Synchronous Resonance (SSR) and torsional vibrations in Doubly Fed Induction Generator (DFIG) based wind turbines.The
control approach proposed for SSR mitigation is based on the mechanism of SSR which is identified as being due to the unstable electrical dynamics in the DFIG rotor circuit. It is then reasoned that this could be rectified if the problematic dynamics were eliminated. This is achieved using
Sliding Mode Control (SMC) which collapses the rotor dynamics into algebraic equations and constrains them into following predefined reference currents, alleviating the SSR issue. The stability of the remaining dynamics are analysed and evaluated to be stable. This method is also extended to cover cases where parameter variations may be present due to variations in operating conditions or machine loading conditions. The proposed torsional vibration mitigation method uses the generator and turbine speeds to calculate the twisting speed and twist angle between the generator mass and the turbine mass of the drivetrain. This information is then used to design a
sliding surface which when reached converges the twist angle to a prescribed value. The relationship between the drivetrain twist angle, drivetrain stiffness and torque is used to compute a prescribed drivetrain twist angle for a given torque value. This relationship is used to express a Maximum Power Point Tracking (MPPT) torque reference as a twist angle reference. The controller then enforces and maintains this twist angle on the drivetrain. Due to this operation, both torsional vibration suppression and torque
control for MPPT can be achieved with a single controller, in contrast to previous methods which required separate controllers for MPPT and torsional vibration suppression. The proposed solutions for SSR mitigation and torsional vibration suppression are tested by implementing the
control algorithms on the Rotor Side Controller of the detailed DFIG model provided in the RTDS platform. Simulation results under varying operation conditions validate the efficacy of the proposed methods.
Advisors/Committee Members: Dong, Zhao Yang, Electrical Engineering & Telecommunications, Faculty of Engineering, UNSW, Ravishankar, Jayashri, Electrical Engineering & Telecommunications, Faculty of Engineering, UNSW.
Subjects/Keywords: Torsional vibrations; DFIG; SSR; SMC; Sliding Mode Control
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APA (6th Edition):
Karunanayake, C. (2020). Suppression of Sub-Synchronous Resonance and Torsional Oscillations in Doubly Fed Induction Generator Based Wind Turbines. (Doctoral Dissertation). University of New South Wales. Retrieved from http://handle.unsw.edu.au/1959.4/69110 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:70391/SOURCE02?view=true
Chicago Manual of Style (16th Edition):
Karunanayake, Chanditha. “Suppression of Sub-Synchronous Resonance and Torsional Oscillations in Doubly Fed Induction Generator Based Wind Turbines.” 2020. Doctoral Dissertation, University of New South Wales. Accessed February 24, 2021.
http://handle.unsw.edu.au/1959.4/69110 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:70391/SOURCE02?view=true.
MLA Handbook (7th Edition):
Karunanayake, Chanditha. “Suppression of Sub-Synchronous Resonance and Torsional Oscillations in Doubly Fed Induction Generator Based Wind Turbines.” 2020. Web. 24 Feb 2021.
Vancouver:
Karunanayake C. Suppression of Sub-Synchronous Resonance and Torsional Oscillations in Doubly Fed Induction Generator Based Wind Turbines. [Internet] [Doctoral dissertation]. University of New South Wales; 2020. [cited 2021 Feb 24].
Available from: http://handle.unsw.edu.au/1959.4/69110 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:70391/SOURCE02?view=true.
Council of Science Editors:
Karunanayake C. Suppression of Sub-Synchronous Resonance and Torsional Oscillations in Doubly Fed Induction Generator Based Wind Turbines. [Doctoral Dissertation]. University of New South Wales; 2020. Available from: http://handle.unsw.edu.au/1959.4/69110 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:70391/SOURCE02?view=true
The Ohio State University
23.
Cakanel, Ahmet.
SELF-OPTIMIZATION SYSTEMS DESIGN BASED ON SLIDING MODE
CONTROL.
Degree: PhD, Electrical and Computer Engineering, 2017, The Ohio State University
URL: http://rave.ohiolink.edu/etdc/view?acc_num=osu1511264100476327
► The objective of control systems is to maintain desired output with the best attainableefficiency, in which such performance of many modern technologies is enhancedvia minimizing…
(more)
▼ The objective of
control systems is to maintain
desired output with the best attainableefficiency, in which such
performance of many modern technologies is enhancedvia minimizing
or maximizing some state variables.Optimization problems are
occasionallyhandled under the condition such that extremum value,
local plant gain, andrequired inputs are unknown.
Sliding Mode
Control (SMC) theory was developedfor the plants operate under
uncertainty conditions and it exhibits high accuracy, the low
sensitivity with respect to parameter variations and disturbances.
SMC complywith self-optimization application requires controlling
without gradient evaluation ormeasurement. This is non-conventional
control-system problem, cause gradient takespart of the local gain
and it can change sign. In the thesis, searching algorithmis
designed with monotonously decreasing or increasing function which
is trackedby the output of a plant until the extremum point is
reached. Along with developeddesign principle, aforementioned
system behavior in the vicinity of extremumis investigated through
deeper analyses, cause the local gain of the plant tends tozero and
SMC inherently suffers from the presence of high-frequency
oscillations socalled, chattering. This scope is considered as the
theoretical part of the thesis and itis complemented with a
comparison of other developed methodologies apply gradientvector
evaluation. Generalization of the proposed method is demonstrated
for multi-dimensionaloptimization. Beyond theoretical part, three
self-optimization problems are under consideration, which is
frequency
control of DC/AC inverters implementedon induction
motors, output maximization of Underground Coal Gasication
(UCG)power plants and capability enhancement of a three-dimensional
particle trackinga system by integration of an electrically
focus-tunable lens.The objective of minimizing the
switching-frequency of DC/AC inverters withthe desired width of
hysteresis results in decreasing heat losses in the power
converter.Moreover, decreasing the width of hysteresis loop with
remaining the level of admissiblefrequency will increase the
accuracy of inverters.Gasication of coal deep below the earth
surface, known as the Underground CoalGasication (UCG) process, is
very sensitive to flow rate of oxidants. However,the most critical
factor is the steam to oxygen ratio in the input flow rate.
Slidingmodes based static self-optimization is applied to the UCG
process which takes intoconsideration the inlet pressure of the UCG
reactor adjusts the steam to oxygena ratio such that the reactor
output, which is the caloric value of the product gases is
maximized. The simulation results are presented for the validated
UCG model toemphasize the effectiveness of the algorithm.SMC
self-optimization model is used for tracking an axillary moving
microscopicparticle of electrically focus tunable lens. Using
lenses mounted on mechanical actuatorsare not ecient against
limited movement range, slower response times andvibrations in the
system. These drawbacks are often…
Advisors/Committee Members: UTKIN, VADIM I. (Advisor).
Subjects/Keywords: Electrical Engineering; Engineering; Sliding Mode Control, Self-Optimization, Extremum
Seeking
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Manager
APA (6th Edition):
Cakanel, A. (2017). SELF-OPTIMIZATION SYSTEMS DESIGN BASED ON SLIDING MODE
CONTROL. (Doctoral Dissertation). The Ohio State University. Retrieved from http://rave.ohiolink.edu/etdc/view?acc_num=osu1511264100476327
Chicago Manual of Style (16th Edition):
Cakanel, Ahmet. “SELF-OPTIMIZATION SYSTEMS DESIGN BASED ON SLIDING MODE
CONTROL.” 2017. Doctoral Dissertation, The Ohio State University. Accessed February 24, 2021.
http://rave.ohiolink.edu/etdc/view?acc_num=osu1511264100476327.
MLA Handbook (7th Edition):
Cakanel, Ahmet. “SELF-OPTIMIZATION SYSTEMS DESIGN BASED ON SLIDING MODE
CONTROL.” 2017. Web. 24 Feb 2021.
Vancouver:
Cakanel A. SELF-OPTIMIZATION SYSTEMS DESIGN BASED ON SLIDING MODE
CONTROL. [Internet] [Doctoral dissertation]. The Ohio State University; 2017. [cited 2021 Feb 24].
Available from: http://rave.ohiolink.edu/etdc/view?acc_num=osu1511264100476327.
Council of Science Editors:
Cakanel A. SELF-OPTIMIZATION SYSTEMS DESIGN BASED ON SLIDING MODE
CONTROL. [Doctoral Dissertation]. The Ohio State University; 2017. Available from: http://rave.ohiolink.edu/etdc/view?acc_num=osu1511264100476327
The Ohio State University
24.
Swikir, Abdalla M Lamen.
CHATTERING ANALYSIS OF THE SYSTEM WITH HIGHER ORDER SLIDING
MODE CONTROL.
Degree: MS, Electrical and Computer Engineering, 2015, The Ohio State University
URL: http://rave.ohiolink.edu/etdc/view?acc_num=osu1444243591
► Sliding mode control methodology (SMC) is considered as an efficient technique in several aspects for control systems. Nevertheless, applying first-order sliding mode control method in…
(more)
▼ Sliding mode control methodology (SMC) is considered
as an efficient technique in several aspects for
control systems.
Nevertheless, applying first-order
sliding mode control method in
real-life has what so-called chattering phenomenon. Chattering is a
high frequency movement that makes the state trajectories quickly
oscillating around the
sliding surface. This phenomenon may lead to
degrade the system effectiveness, or even worst it may lead to fast
damage of mechanical parts of the system. Presently, the major
solutions to this drawback are asymptotic observers and high-order
sliding mode control. The higher order
sliding mode control is an
expansion of the conventional
sliding mode, and it can cancel the
imperfection of the conventional
sliding mode methodology and
sustain its advantages. Since the second-order
sliding mode
controller, for example, super twisting algorithm, has
unsophisticated construction and requires a lesser amount of
acquaintance, it is the most extensively technique that used in the
higher order
sliding mode methodology. However, in several cases,
the chattering amplitude result from conventional method is less
than the one result from super twisting algorithm. In this thesis,
the describing function method, most suitable technique to analyze
nonlinear systems, is used to make comparison between the two
methods, the conventional and the super twisting
sliding mode
control. A simulation is performed to confirm the results that
describing function method shows. Several situations illustrate the
efficiency of first order
sliding mode control over the higher
order
sliding mode control are represented.
Advisors/Committee Members: Utkin, Vadim (Advisor).
Subjects/Keywords: Electrical Engineering; sliding mode control twisting algorithm super twisting
algorithm chattering
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APA (6th Edition):
Swikir, A. M. L. (2015). CHATTERING ANALYSIS OF THE SYSTEM WITH HIGHER ORDER SLIDING
MODE CONTROL. (Masters Thesis). The Ohio State University. Retrieved from http://rave.ohiolink.edu/etdc/view?acc_num=osu1444243591
Chicago Manual of Style (16th Edition):
Swikir, Abdalla M Lamen. “CHATTERING ANALYSIS OF THE SYSTEM WITH HIGHER ORDER SLIDING
MODE CONTROL.” 2015. Masters Thesis, The Ohio State University. Accessed February 24, 2021.
http://rave.ohiolink.edu/etdc/view?acc_num=osu1444243591.
MLA Handbook (7th Edition):
Swikir, Abdalla M Lamen. “CHATTERING ANALYSIS OF THE SYSTEM WITH HIGHER ORDER SLIDING
MODE CONTROL.” 2015. Web. 24 Feb 2021.
Vancouver:
Swikir AML. CHATTERING ANALYSIS OF THE SYSTEM WITH HIGHER ORDER SLIDING
MODE CONTROL. [Internet] [Masters thesis]. The Ohio State University; 2015. [cited 2021 Feb 24].
Available from: http://rave.ohiolink.edu/etdc/view?acc_num=osu1444243591.
Council of Science Editors:
Swikir AML. CHATTERING ANALYSIS OF THE SYSTEM WITH HIGHER ORDER SLIDING
MODE CONTROL. [Masters Thesis]. The Ohio State University; 2015. Available from: http://rave.ohiolink.edu/etdc/view?acc_num=osu1444243591
NSYSU
25.
Liu, Hong-Yi.
Sliding Mode Control Design for Mismatched Uncertain Switched Systems.
Degree: Master, Electrical Engineering, 2012, NSYSU
URL: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0215112-204408
► Based on the Lyapunov stability theorem, a sliding mode control design methodology is proposed in this thesis for a class of perturbed switched systems. The…
(more)
▼ Based on the Lyapunov stability theorem, a
sliding mode control design methodology is proposed in this thesis for a class of perturbed switched systems. The
control of the systems is rest restricted to switching between two different constant values. New
sliding mode reaching conditions are proposed for the controllers so that the controlled systems can enter the
sliding mode in finite time. Once the switched
control system is in the
sliding mode, the stability of the system is guaranteed by choosing a suitable
sliding surface. In addition, a method for alleviating the infinite switching phenomenon is also provided in this thesis. Finally, a numerical and a practical example with computer simulation results are given for demonstrating the feasibility of the proposed
control scheme.
Advisors/Committee Members: Li Lee (chair), Chih-Chiang Cheng (committee member), Shiang-Hwua Yu (chair).
Subjects/Keywords: equivalent control; switching control; infinite switching phenomenon; sliding mode control; switched system; Lyapunov stability theorem
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APA (6th Edition):
Liu, H. (2012). Sliding Mode Control Design for Mismatched Uncertain Switched Systems. (Thesis). NSYSU. Retrieved from http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0215112-204408
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Liu, Hong-Yi. “Sliding Mode Control Design for Mismatched Uncertain Switched Systems.” 2012. Thesis, NSYSU. Accessed February 24, 2021.
http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0215112-204408.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Liu, Hong-Yi. “Sliding Mode Control Design for Mismatched Uncertain Switched Systems.” 2012. Web. 24 Feb 2021.
Vancouver:
Liu H. Sliding Mode Control Design for Mismatched Uncertain Switched Systems. [Internet] [Thesis]. NSYSU; 2012. [cited 2021 Feb 24].
Available from: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0215112-204408.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Liu H. Sliding Mode Control Design for Mismatched Uncertain Switched Systems. [Thesis]. NSYSU; 2012. Available from: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0215112-204408
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Rochester Institute of Technology
26.
Mittmann Reis, Raul.
A New Model-Free Sliding Mode Control Method with Estimation of Control Input Error.
Degree: MS, Electrical Engineering, 2016, Rochester Institute of Technology
URL: https://scholarworks.rit.edu/theses/9013
► A new type of sliding mode controller scheme, which requires no knowledge of system model, is derived in this work. The controller is solely…
(more)
▼ A new type of
sliding mode controller scheme, which requires no knowledge of system model, is derived in this work. The controller is solely based on previous
control inputs and state measurements to generate the updated
control input effort. The only knowledge required to derive the controller is the system order and the bounds of the
control input gain, if one exists. The switching gain, which is required to drive the system states onto the
sliding surface in the presence of disturbances and uncertainties, is derived using Lyapunov’s stability theorem, ensuring closed-loop asymptotic stability. The chattering effect, which is excited by the switching gain due to high activity of the
control input, is reduced by using a smoothing boundary layer into the
control law form. Simulations are performed, using first and second-order, linear and nonlinear systems, to test the performance of the new
control law. In the last part of this work, the problem with state measurement noise is addressed. Results of the simulations validates the feasibility of the proposed
control scheme.
Advisors/Committee Members: Agamemnon Crassidis.
Subjects/Keywords: Control system; Lyapunoy's theory; Model-free; Nonlinear control; Sliding mode control; SMC
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APA (6th Edition):
Mittmann Reis, R. (2016). A New Model-Free Sliding Mode Control Method with Estimation of Control Input Error. (Masters Thesis). Rochester Institute of Technology. Retrieved from https://scholarworks.rit.edu/theses/9013
Chicago Manual of Style (16th Edition):
Mittmann Reis, Raul. “A New Model-Free Sliding Mode Control Method with Estimation of Control Input Error.” 2016. Masters Thesis, Rochester Institute of Technology. Accessed February 24, 2021.
https://scholarworks.rit.edu/theses/9013.
MLA Handbook (7th Edition):
Mittmann Reis, Raul. “A New Model-Free Sliding Mode Control Method with Estimation of Control Input Error.” 2016. Web. 24 Feb 2021.
Vancouver:
Mittmann Reis R. A New Model-Free Sliding Mode Control Method with Estimation of Control Input Error. [Internet] [Masters thesis]. Rochester Institute of Technology; 2016. [cited 2021 Feb 24].
Available from: https://scholarworks.rit.edu/theses/9013.
Council of Science Editors:
Mittmann Reis R. A New Model-Free Sliding Mode Control Method with Estimation of Control Input Error. [Masters Thesis]. Rochester Institute of Technology; 2016. Available from: https://scholarworks.rit.edu/theses/9013
Addis Ababa University
27.
Andinet, Negash.
DESIGN OF FUZZY SLIDING MODE CONTROLLER FOR THE BALL AND PLATE SYSTEM
.
Degree: 2013, Addis Ababa University
URL: http://etd.aau.edu.et/dspace/handle/123456789/4494
► The Ball and Plate system is a non-linear, multivariable and under-actuated system which provides a suitable experimental platform for control algorithm development and investigation of…
(more)
▼ The Ball and Plate system is a non-linear, multivariable and under-actuated system which provides a suitable experimental platform for
control algorithm development and investigation of both stabilization and trajectory tracking
control of unstable systems.
Sliding mode control, as one of the tools available to design robust controllers, is introduced in the outer loop of a double-loop feedback configuration. Since the robustness of
sliding mode control is obtained at the cost of infinite switching of the
control input, undesirable phenomenon known as chattering will be a concern in practical implementations. To this end, Fuzzy Logic is used to tune the gain of the switching
control component based on the distance of the system trajectory from the
sliding surface. Genetic algorithm is implemented to determine the parameters of the fuzzy system in an optimal manner.
Linear algebraic method is used to design an inner loop angle controller from a set of Diophantine equations. An implementable zero-position error transfer function is selected from tabulated results of analog computer simulations of Integral of Time Multiplied Absolute Error (ITAE) optimal systems. Specifications for the desired settling time and limitation in the actuator voltage are used as constraints to obtain the coefficients of the overall transfer function.
The mathematical model of the Ball and Plate system, solved from Euler-Lagrange Equations of Motion, is investigated by realizing the designed controllers using Simulink ® and Real-Time Windows Target™ rapid prototyping software. The 3-D model of the system designed using V·Realm™ Builder based on the standards of Virtual Reality Modeling Language (VRML) is interfaced with the Simulink ® model via Simulink® 3D Animation™ product.
Simulation results show that the ball could be stabilized anywhere on the plate in 3.5 seconds and it could also track a circular trajectory of 0.4m radius at 0.8 rad/s in 10 seconds without significant chattering.
Advisors/Committee Members: Professor N.P. Singh (advisor).
Subjects/Keywords: Fuzzy Sliding Mode Control;
Variable Structure Control;
Linear Algebraic Method;
Ball and Plate control
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APA ·
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CSE |
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APA (6th Edition):
Andinet, N. (2013). DESIGN OF FUZZY SLIDING MODE CONTROLLER FOR THE BALL AND PLATE SYSTEM
. (Thesis). Addis Ababa University. Retrieved from http://etd.aau.edu.et/dspace/handle/123456789/4494
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Andinet, Negash. “DESIGN OF FUZZY SLIDING MODE CONTROLLER FOR THE BALL AND PLATE SYSTEM
.” 2013. Thesis, Addis Ababa University. Accessed February 24, 2021.
http://etd.aau.edu.et/dspace/handle/123456789/4494.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Andinet, Negash. “DESIGN OF FUZZY SLIDING MODE CONTROLLER FOR THE BALL AND PLATE SYSTEM
.” 2013. Web. 24 Feb 2021.
Vancouver:
Andinet N. DESIGN OF FUZZY SLIDING MODE CONTROLLER FOR THE BALL AND PLATE SYSTEM
. [Internet] [Thesis]. Addis Ababa University; 2013. [cited 2021 Feb 24].
Available from: http://etd.aau.edu.et/dspace/handle/123456789/4494.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Andinet N. DESIGN OF FUZZY SLIDING MODE CONTROLLER FOR THE BALL AND PLATE SYSTEM
. [Thesis]. Addis Ababa University; 2013. Available from: http://etd.aau.edu.et/dspace/handle/123456789/4494
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
University of Manitoba
28.
Garmsiri, Naghmeh.
Teleoperation of pneumatic actuators: design, experimental evaluation, and stability analysis.
Degree: Mechanical Engineering, 2014, University of Manitoba
URL: http://hdl.handle.net/1993/32640
► Pneumatic systems are inexpensive, safe and require low maintenance. Because of the actuation material, air, they are potential candidates for dealing with external force. Teleoperation…
(more)
▼ Pneumatic systems are inexpensive, safe and require low maintenance. Because of the actuation material, air, they are potential candidates for dealing with external force. Teleoperation of pneumatic actuators can be very beneficial in applications in which the remote actuator needs to interact with the external force, e.g. telerehabilitation.
This thesis focuses on the teleoperation of a low-cost solenoid-driven pneumatic actuator. Firstly, a novel intelligent position controller is applied and experimented with on the pneumatic actuator and is later compared to two other controllers. The best among the three is chosen for the rest of the thesis. A unilateral pneumatic teleoperation system employing an electrically-actuated joystick is successfully developed and evaluated using impedance and admittance
control schemes for dealing with the external force. Stability analysis is assured for autonomous and non-autonomous systems using the concept of Lyapunov Exponents (LEs). The concept of LEs allows the stability analysis of an available system, and as a result, it does not impose any limitations on the system parameters. In addition, it can show the effect of changing a certain parameter on the stability. Using this concept, the effect of changing a few parameters on stability is studied. The performances of admittance and impedance unilateral systems are then compared in terms of positioning accuracy, energy dissipation and fast response to the external force. It is shown that admittance unilateral teleoperation offers higher positioning accuracy and damping characteristics and reacts faster to the external force.
For the first time, a bilateral teleoperation system is applied to a solenoid valve-driven pneumatic actuator using an electrically-actuated haptic device. Unlike the last two methods, the slave robot does not deal with the external force independently. Instead, this force is rendered on a haptic device and felt by the operator. By changing the admittance of the hand, the operator indirectly deals with the external force. Experimental verification shows the effectiveness of the developed bilateral teleoperation system.
Advisors/Committee Members: Sepehri, Nariman (Mechanical Engineering) (supervisor), Balakrishnan, Subramaniam (Mechanical Engineering).
Subjects/Keywords: Pneumatic Actuator; Bilateral; Unilateral; Impedance Control; Admittance Control; Sliding Mode Control; Stability Analysis; Lyapunov Exponents.
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APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Garmsiri, N. (2014). Teleoperation of pneumatic actuators: design, experimental evaluation, and stability analysis. (Thesis). University of Manitoba. Retrieved from http://hdl.handle.net/1993/32640
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Garmsiri, Naghmeh. “Teleoperation of pneumatic actuators: design, experimental evaluation, and stability analysis.” 2014. Thesis, University of Manitoba. Accessed February 24, 2021.
http://hdl.handle.net/1993/32640.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Garmsiri, Naghmeh. “Teleoperation of pneumatic actuators: design, experimental evaluation, and stability analysis.” 2014. Web. 24 Feb 2021.
Vancouver:
Garmsiri N. Teleoperation of pneumatic actuators: design, experimental evaluation, and stability analysis. [Internet] [Thesis]. University of Manitoba; 2014. [cited 2021 Feb 24].
Available from: http://hdl.handle.net/1993/32640.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Garmsiri N. Teleoperation of pneumatic actuators: design, experimental evaluation, and stability analysis. [Thesis]. University of Manitoba; 2014. Available from: http://hdl.handle.net/1993/32640
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
29.
Akyürek, Emre.
Remote-controlled ambidextrous robot hand actuated by pneumatic muscles : from feasibility study to design and control algorithms.
Degree: PhD, 2015, Brunel University
URL: http://bura.brunel.ac.uk/handle/2438/11671
;
http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.675891
► This thesis relates to the development of the Ambidextrous Robot Hand engineered in Brunel University. Assigned to a robotic hand, the ambidextrous feature means that…
(more)
▼ This thesis relates to the development of the Ambidextrous Robot Hand engineered in Brunel University. Assigned to a robotic hand, the ambidextrous feature means that two different behaviours are accessible from a single robot hand, because of its fingers architecture which permits them to bend in both ways. On one hand, the robotic device can therefore behave as a right hand whereas, on another hand, it can behave as a left hand. The main contribution of this project is its ambidextrous feature, totally unique in robotics area. Moreover, the Ambidextrous Robot Hand is actuated by pneumatic artificial muscles (PAMs), which are not commonly used to drive robot hands. The type of the actuators consequently adds more originality to the project. The primary challenge is to reach an ambidextrous behaviour using PAMs designed to actuate non-ambidextrous robot hands. Thus, a feasibility study is carried out for this purpose. Investigating a number of mechanical possibilities, an ambidextrous design is reached with features almost identical for its right and left sides. A testbench is thereafter designed to investigate this possibility even further to design ambidextrous fingers using 3D printing and an asymmetrical tendons routing engineered to reduce the number of actuators. The Ambidextrous Robot Hand is connected to a remote control interface accessible from its website, which provides video streaming as feedback, to be eventually used as an online rehabilitation device. The secondary main challenge is to implement control algorithms on a robot hand with a range twice larger than others, with an asymmetrical tendons routing and actuated by nonlinear actuators. A number of control algorithms are therefore investigated to interact with the angular displacement of the fingers and the grasping abilities of the hand. Several solutions are found out, notably the implementations of a phasing plane switch control and a sliding-mode control, both specific to the architecture of the Ambidextrous Robot Hand. The implementation of these two algorithms on a robotic hand actuated by PAMs is almost as innovative as the ambidextrous design of the mechanical structure itself.
Subjects/Keywords: 629.8; Robotics; Mechanical architectures; Phasing plane switch control; Sliding-mode control; Backstepping control
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APA ·
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APA (6th Edition):
Akyürek, E. (2015). Remote-controlled ambidextrous robot hand actuated by pneumatic muscles : from feasibility study to design and control algorithms. (Doctoral Dissertation). Brunel University. Retrieved from http://bura.brunel.ac.uk/handle/2438/11671 ; http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.675891
Chicago Manual of Style (16th Edition):
Akyürek, Emre. “Remote-controlled ambidextrous robot hand actuated by pneumatic muscles : from feasibility study to design and control algorithms.” 2015. Doctoral Dissertation, Brunel University. Accessed February 24, 2021.
http://bura.brunel.ac.uk/handle/2438/11671 ; http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.675891.
MLA Handbook (7th Edition):
Akyürek, Emre. “Remote-controlled ambidextrous robot hand actuated by pneumatic muscles : from feasibility study to design and control algorithms.” 2015. Web. 24 Feb 2021.
Vancouver:
Akyürek E. Remote-controlled ambidextrous robot hand actuated by pneumatic muscles : from feasibility study to design and control algorithms. [Internet] [Doctoral dissertation]. Brunel University; 2015. [cited 2021 Feb 24].
Available from: http://bura.brunel.ac.uk/handle/2438/11671 ; http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.675891.
Council of Science Editors:
Akyürek E. Remote-controlled ambidextrous robot hand actuated by pneumatic muscles : from feasibility study to design and control algorithms. [Doctoral Dissertation]. Brunel University; 2015. Available from: http://bura.brunel.ac.uk/handle/2438/11671 ; http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.675891
30.
Khatiwada, Sital.
CONTROL STRATEGY OF MULTIROTOR PLATFORM UNDER NOMINAL AND FAULT CONDITIONS USING A
DUAL-LOOP CONTROL SCHEME USED FOR EARTH-BASED SPACECRAFT CONTROL TESTING.
Degree: MS, 2019, University of New Hampshire
URL: https://scholars.unh.edu/thesis/1276
► Over the last decade, autonomous Unmanned Aerial Vehicles (UAVs) have seen increased usage in industrial, defense, research, and academic applications. Specific attention is given…
(more)
▼ Over the last decade, autonomous Unmanned Aerial Vehicles (UAVs) have seen
increased usage in industrial, defense, research, and academic applications. Specific
attention is given to multirotor platforms due to their high maneuverability, utility, and
accessibility. As such, multirotors are often utilized in a variety of operating conditions
such as populated areas, hazardous environments, inclement weather, etc. In this study, the
effectiveness of multirotor platforms, specifically quadrotors, to behave as Earth-based
satellite test platforms is discussed. Additionally, due to concerns over system operations
under such circumstances, it becomes critical that multirotors are capable of operation
despite experiencing undesired conditions and collisions which make the platform susceptible
to on-board hardware faults. Without countermeasures to account for such faults,
specifically actuator faults, a multirotors will experience catastrophic
failure. In this thesis, a
control strategy for a quadrotor under nominal
and fault conditions is proposed. The process of defining the quadrotor dynamic model is
discussed in detail. A dual-loop SMC/PID
control scheme is proposed to
control the attitude
and position states of the nominal system. Actuator faults on-board the quadrotor are
interpreted as motor performance losses, specifically loss in rotor speeds. To
control a
faulty system, an additive
control scheme is implemented in conjunction with the nominal
scheme. The quadrotor platform is developed via analysis of the various
subcomponents. In addition, various physical parameters of the quadrotor are determined
experimentally. Simulated and experimental testing showed promising results, and provide
encouragement for further refinement in the future.
Advisors/Committee Members: May-Win Thein, Barry Fussell, Se Young Yoon.
Subjects/Keywords: Control Theory; Fault Tolerant Control; Multirotor; Quadcopter; Satellite Dynamics; Sliding Mode Control
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APA ·
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MLA ·
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Export
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Manager
APA (6th Edition):
Khatiwada, S. (2019). CONTROL STRATEGY OF MULTIROTOR PLATFORM UNDER NOMINAL AND FAULT CONDITIONS USING A
DUAL-LOOP CONTROL SCHEME USED FOR EARTH-BASED SPACECRAFT CONTROL TESTING. (Thesis). University of New Hampshire. Retrieved from https://scholars.unh.edu/thesis/1276
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Khatiwada, Sital. “CONTROL STRATEGY OF MULTIROTOR PLATFORM UNDER NOMINAL AND FAULT CONDITIONS USING A
DUAL-LOOP CONTROL SCHEME USED FOR EARTH-BASED SPACECRAFT CONTROL TESTING.” 2019. Thesis, University of New Hampshire. Accessed February 24, 2021.
https://scholars.unh.edu/thesis/1276.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Khatiwada, Sital. “CONTROL STRATEGY OF MULTIROTOR PLATFORM UNDER NOMINAL AND FAULT CONDITIONS USING A
DUAL-LOOP CONTROL SCHEME USED FOR EARTH-BASED SPACECRAFT CONTROL TESTING.” 2019. Web. 24 Feb 2021.
Vancouver:
Khatiwada S. CONTROL STRATEGY OF MULTIROTOR PLATFORM UNDER NOMINAL AND FAULT CONDITIONS USING A
DUAL-LOOP CONTROL SCHEME USED FOR EARTH-BASED SPACECRAFT CONTROL TESTING. [Internet] [Thesis]. University of New Hampshire; 2019. [cited 2021 Feb 24].
Available from: https://scholars.unh.edu/thesis/1276.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Khatiwada S. CONTROL STRATEGY OF MULTIROTOR PLATFORM UNDER NOMINAL AND FAULT CONDITIONS USING A
DUAL-LOOP CONTROL SCHEME USED FOR EARTH-BASED SPACECRAFT CONTROL TESTING. [Thesis]. University of New Hampshire; 2019. Available from: https://scholars.unh.edu/thesis/1276
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
◁ [1] [2] [3] [4] [5] [6] [7] [8] [9] ▶
. 
Open Access Theses and Dissertations
