You searched for subject:(Sliding mode control).
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Rutgers University
1.
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 29, 2020.
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. 29 Feb 2020.
Vancouver:
Nguyen, Thang Tien 1. Sliding mode control for systems with slow and fast modes. [Internet] [Doctoral dissertation]. Rutgers University; 2010. [cited 2020 Feb 29].
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
Rochester Institute of Technology
2.
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, Jason Kolodziej, Wayne Walter.
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 29, 2020.
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. 29 Feb 2020.
Vancouver:
Marvin T. Sliding Mode Control of MIMO Non-Square Systems via Squaring Matrix Transforms. [Internet] [Masters thesis]. Rochester Institute of Technology; 2013. [cited 2020 Feb 29].
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
3.
Ding, Xibei.
Modern Control System Design for Hydro-power Plant.
Degree: MS, Mechanical Engineering, 2011, Penn State University
URL: https://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.
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. (Masters Thesis). Penn State University. Retrieved from https://etda.libraries.psu.edu/catalog/11831
Chicago Manual of Style (16th Edition):
Ding, Xibei. “Modern Control System Design for Hydro-power Plant.” 2011. Masters Thesis, Penn State University. Accessed February 29, 2020.
https://etda.libraries.psu.edu/catalog/11831.
MLA Handbook (7th Edition):
Ding, Xibei. “Modern Control System Design for Hydro-power Plant.” 2011. Web. 29 Feb 2020.
Vancouver:
Ding X. Modern Control System Design for Hydro-power Plant. [Internet] [Masters thesis]. Penn State University; 2011. [cited 2020 Feb 29].
Available from: https://etda.libraries.psu.edu/catalog/11831.
Council of Science Editors:
Ding X. Modern Control System Design for Hydro-power Plant. [Masters Thesis]. Penn State University; 2011. Available from: https://etda.libraries.psu.edu/catalog/11831
The Ohio State University
4.
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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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 29, 2020.
http://rave.ohiolink.edu/etdc/view?acc_num=osu1192823756.
MLA Handbook (7th Edition):
Lee, Hoon. “Chattering suppression in sliding mode control
system.” 2007. Web. 29 Feb 2020.
Vancouver:
Lee H. Chattering suppression in sliding mode control
system. [Internet] [Doctoral dissertation]. The Ohio State University; 2007. [cited 2020 Feb 29].
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
University of Alberta
5.
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 29, 2020.
https://era.library.ualberta.ca/files/3197xn557.
MLA Handbook (7th Edition):
Van Kleeck, Christopher John. “Formation control for autonomous marine vehicles.” 2009. Web. 29 Feb 2020.
Vancouver:
Van Kleeck CJ. Formation control for autonomous marine vehicles. [Internet] [Masters thesis]. University of Alberta; 2009. [cited 2020 Feb 29].
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
The Ohio State University
6.
Xu, Rong.
Optimal sliding mode control and stabilization of
underactuated systems.
Degree: PhD, Electrical Engineering, 2007, The Ohio State University
URL: http://rave.ohiolink.edu/etdc/view?acc_num=osu1185815577
► Optimal sliding mode control and stabilization of underactuated systems by using sliding mode control are studied in this dissertation. Sliding mode controls with time-varying sliding…
(more)
▼ Optimal
sliding mode control and stabilization of
underactuated systems by using
sliding mode control are studied in
this dissertation.
Sliding mode controls with time-varying
sliding
surfaces are proposed to solve the optimal
control problem for both
linear and nonlinear systems. The time-varying
sliding surfaces are
designed such that the system state is on the
sliding surface from
the beginning of the motion without reaching phase. Therefore, the
behavior of the system is totally determined by these time-varying
sliding surfaces. The original optimal
control problem is also
transformed into finding the optimal
sliding surfaces. In some
cases, the new problem is easy to solve than the original one. The
main advantage of this kind of controls is that they can provide a
more robust optimal
control to the original problem. The optimal
sliding mode control system should work in such a manner. In the
region dominated by the system nominal part, the system behavior is
mainly governed by optimal
control. In the region where
perturbation becomes dominant,
sliding mode control will take over
the main
control task. Several approaches are applied to find the
optimal solution or an approximation of the optimal solution for
linear continuous-time, linear discrete-time and nonlinear optimal
control problems. As a special kind of nonlinear systems,
underactuated systems are of great interest in both theoretical
research and real applications. For underactuated systems, which
don't satisfy Brockett's necessary conditions, non-smooth
sliding
mode control could be used to robustly stabilize those
underactuated systems. Two kinds of underactuated systems, those in
the cascaded form and those in the chained form, are studied in the
second part of the dissertation. Two
sliding mode controllers are
presented to stabilize those two kinds of underactuated systems
with simulations of three benchmark examples.
Advisors/Committee Members: Ozguner, Umit (Advisor).
Subjects/Keywords: sliding mode control; underactuated systems; optimal control
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APA (6th Edition):
Xu, R. (2007). Optimal sliding mode control and stabilization of
underactuated systems. (Doctoral Dissertation). The Ohio State University. Retrieved from http://rave.ohiolink.edu/etdc/view?acc_num=osu1185815577
Chicago Manual of Style (16th Edition):
Xu, Rong. “Optimal sliding mode control and stabilization of
underactuated systems.” 2007. Doctoral Dissertation, The Ohio State University. Accessed February 29, 2020.
http://rave.ohiolink.edu/etdc/view?acc_num=osu1185815577.
MLA Handbook (7th Edition):
Xu, Rong. “Optimal sliding mode control and stabilization of
underactuated systems.” 2007. Web. 29 Feb 2020.
Vancouver:
Xu R. Optimal sliding mode control and stabilization of
underactuated systems. [Internet] [Doctoral dissertation]. The Ohio State University; 2007. [cited 2020 Feb 29].
Available from: http://rave.ohiolink.edu/etdc/view?acc_num=osu1185815577.
Council of Science Editors:
Xu R. Optimal sliding mode control and stabilization of
underactuated systems. [Doctoral Dissertation]. The Ohio State University; 2007. Available from: http://rave.ohiolink.edu/etdc/view?acc_num=osu1185815577
University of New South Wales
7.
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 29, 2020.
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. 29 Feb 2020.
Vancouver:
Xi Z. Advanced sliding mode control - theory and applications. [Internet] [Doctoral dissertation]. University of New South Wales; 2011. [cited 2020 Feb 29].
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
8.
Park, Gun-hyung, 1979-.
Sliding mode control of continuous-time weakly coupled systems.
Degree: MS, Electrical and Computer Engineering, 2010, Rutgers University
URL: http://hdl.rutgers.edu/1782.2/rucore10001600001.ETD.000053147
► Sliding mode control is a form of variable structure control which is a powerful tool to cope with external disturbances and uncertainty. There are many…
(more)
▼ Sliding mode control is a form of variable structure
control which is a powerful tool to cope with external disturbances and uncertainty. There are many applications of
sliding mode control of weakly coupled system to absorption columns, catalytic crackers, chemical plants, chemical reactors, helicopters, satellites, flexible beams, cold-rolling mills, power systems, electrical circuits, computer/communication networks, etc. In this thesis, the problem of
sliding mode control for systems, which are composed of two weakly coupled subsystems, is firstly addressed. This thesis presents three methods to study continuous-time linear weakly coupled systems using
sliding mode control. First one is Utkin and Young's
sliding mode control method for each subsystem using a decoupling transformation technique. Next one is a composite
control approach composed of two controllers, which are a state feedback controller and a
sliding mode controller. The last one is a
sliding mode control technique using the Lyapunov approach. These methods provide controls which make the systems asymptotic stabile with a robust performance against parametric uncertainties and exogenous disturbances. In this thesis, we demonstrate the effectiveness of the proposed methods through theoretical and simulation results.
Advisors/Committee Members: Park, Gun-hyung, 1979- (author), Gajic, Zoran (chair), Pompili, Dario (internal member), Spasojevic, Predrag (internal member).
Subjects/Keywords: Sliding mode control; Wireless communication systems
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APA (6th Edition):
Park, Gun-hyung, 1. (2010). Sliding mode control of continuous-time weakly coupled systems. (Masters Thesis). Rutgers University. Retrieved from http://hdl.rutgers.edu/1782.2/rucore10001600001.ETD.000053147
Chicago Manual of Style (16th Edition):
Park, Gun-hyung, 1979-. “Sliding mode control of continuous-time weakly coupled systems.” 2010. Masters Thesis, Rutgers University. Accessed February 29, 2020.
http://hdl.rutgers.edu/1782.2/rucore10001600001.ETD.000053147.
MLA Handbook (7th Edition):
Park, Gun-hyung, 1979-. “Sliding mode control of continuous-time weakly coupled systems.” 2010. Web. 29 Feb 2020.
Vancouver:
Park, Gun-hyung 1. Sliding mode control of continuous-time weakly coupled systems. [Internet] [Masters thesis]. Rutgers University; 2010. [cited 2020 Feb 29].
Available from: http://hdl.rutgers.edu/1782.2/rucore10001600001.ETD.000053147.
Council of Science Editors:
Park, Gun-hyung 1. Sliding mode control of continuous-time weakly coupled systems. [Masters Thesis]. Rutgers University; 2010. Available from: http://hdl.rutgers.edu/1782.2/rucore10001600001.ETD.000053147
University of Manitoba
9.
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 29, 2020.
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. 29 Feb 2020.
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 2020 Feb 29].
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
10.
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 29, 2020.
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. 29 Feb 2020.
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 2020 Feb 29].
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
11.
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 29, 2020.
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. 29 Feb 2020.
Vancouver:
Mastory C. Non-Linear Robust Observers For Systems With Non-Collocated Sensors And Actuators. [Internet] [Doctoral dissertation]. Wayne State University; 2014. [cited 2020 Feb 29].
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
Rutgers University
12.
Gopala, Prashanth Kumar, 1986-.
Sliding mode control of discrete-time weakly coupled systems.
Degree: MS, Electrical and Computer Engineering, 2011, Rutgers University
URL: http://hdl.rutgers.edu/1782.1/rucore10001600001.ETD.000057586
► Sliding mode control is a form of variable structure control which is a powerful tool to cope with external disturbances and uncertainty. There are many…
(more)
▼ Sliding mode control is a form of variable structure
control which is a powerful tool to cope with external disturbances and uncertainty. There are many applications of
sliding mode control of weakly coupled system to absorption columns, catalytic crackers, chemical plants, chemical reactors, helicopters, satellites, flexible beams, cold-rolling mills, power systems, electrical circuits, computer/communication networks, etc. In this thesis, the problem of
sliding mode control for systems, which are composed of two weakly coupled subsystems, is addressed. This thesis presents several methods to apply
sliding mode control to linear discretetime weakly-coupled systems and di fferent approaches to decouple the sub-systems. The application of Utkin and Young's
sliding mode control method on discrete-time weakly-coupled systems is studied in detail which is then compared with other
control algorithms while emphasizing the importance of the decoupling technique in each case. It also presents the possibility of integrating two or more
control strategies for a single system; one for each sub-system, depending upon the respective requirements and constraints. In this thesis, the eff ectiveness of the proposed methods is demonstrated through theory and simulation results.
Advisors/Committee Members: Gopala, Prashanth Kumar, 1986- (author), Gajic, Zoran (chair), Pompili, Dario (internal member), Spasojevic, Predrag (internal member).
Subjects/Keywords: Sliding mode control; Coupled mode theory; Discrete-time systems
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APA (6th Edition):
Gopala, Prashanth Kumar, 1. (2011). Sliding mode control of discrete-time weakly coupled systems. (Masters Thesis). Rutgers University. Retrieved from http://hdl.rutgers.edu/1782.1/rucore10001600001.ETD.000057586
Chicago Manual of Style (16th Edition):
Gopala, Prashanth Kumar, 1986-. “Sliding mode control of discrete-time weakly coupled systems.” 2011. Masters Thesis, Rutgers University. Accessed February 29, 2020.
http://hdl.rutgers.edu/1782.1/rucore10001600001.ETD.000057586.
MLA Handbook (7th Edition):
Gopala, Prashanth Kumar, 1986-. “Sliding mode control of discrete-time weakly coupled systems.” 2011. Web. 29 Feb 2020.
Vancouver:
Gopala, Prashanth Kumar 1. Sliding mode control of discrete-time weakly coupled systems. [Internet] [Masters thesis]. Rutgers University; 2011. [cited 2020 Feb 29].
Available from: http://hdl.rutgers.edu/1782.1/rucore10001600001.ETD.000057586.
Council of Science Editors:
Gopala, Prashanth Kumar 1. Sliding mode control of discrete-time weakly coupled systems. [Masters Thesis]. Rutgers University; 2011. Available from: http://hdl.rutgers.edu/1782.1/rucore10001600001.ETD.000057586
University of Connecticut
13.
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 29, 2020.
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. 29 Feb 2020.
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 2020 Feb 29].
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
Rochester Institute of Technology
14.
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, Juan C. Cockburn, Jason Kolodziej.
Subjects/Keywords: Flight control; Model-free; Nonlinear; Quadrotor; Robust; Sliding mode control
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Manager
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 29, 2020.
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. 29 Feb 2020.
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 2020 Feb 29].
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
The Ohio State University
15.
Wang, Nengmou.
Modified Sliding Mode Control Algorithm for Vibration
Control of Linear and Nonlinear Civil Structures.
Degree: MS, Civil Engineering, 2011, The Ohio State University
URL: http://rave.ohiolink.edu/etdc/view?acc_num=osu1306705560
► Structural control technologies have been widely accepted as effective ways to protect structures against seismic and wind hazards. Sliding mode control (SMC) is among…
(more)
▼ Structural
control technologies have been
widely accepted as effective ways to protect structures against
seismic and wind hazards.
Sliding mode control (SMC) is among the
popular approaches for
control of systems, especially for unknown
linear and nonlinear civil structures. Compared with other
control
approaches,
sliding mode control is invariant to disturbance such
as wind and earthquake, and to system parameters such as the mass,
stiffness, and damping ratio matrices if the uncertainties can be
represented the linear combination of the
control input, which is
generally satisfied for most civil structures.
For known linear civil structures subjected to
wind excitation, a filtered
sliding mode control approach is
presented in order to reduce the response of civil structures.
Rather than using a Lyapunov-function based
control design, an
alternative way is provided to find the
control force based on the
equivalent
control force. A low pass filter is properly selected to
remove the high-frequency components of the
control force while
remaining the structural stability. Simulation results of a
76-story wind-excited high-rising building show that this filtered
sliding mode control method has better performance over
Linear-quadratic-Gaussian (LQG), unfiltered SMC, and some other
approaches with respect to maximum and root-mean-square (RMS)
values of structural response.For unknown nonlinear civil
structures, an adaptive and robust
control algorithm for nonlinear
vibration
control of large structures subjected to dynamic loading
is presented through integration of a self-constructing wavelet
neural network with an adaptive fuzzy
sliding mode control
approach. It is particularly suitable when structural properties
are unknown or change during the dynamic event which is the case
for civil structures subjected to dynamic loading. In other words,
the proposed
control model has the advantages of not requiring
accurate mathematical model of the controlled structure and good
adaptive ability to the changes of structural parameters and
external dynamic loading. The robustness of the proposed algorithm
is achieved by deriving a set of adaptive laws for determining the
unknown parameters of wavelet neural networks using two Lyapunov
functions. Because of these advantages, the proposed adaptive
control algorithm is especially effective and implementable for
vibration
control of large civil structures. The
chattering in SMC is generally a problem that needs to be resolved
for better
control. To solve this issue, two tuning algorithms are
developed for determining the
sliding gain function in the SMC. The
first algorithm is for systems with no noise and disturbance but
with unmodeled dynamics. The second algorithm is for systems with
noise, disturbance, unmodeled dynamics, or their combination.
Compared with the state-dependent, equivalent-
control-dependent,
and hysteresis loop methods, the proposed algorithms are more
straightforward and easy to implement. The performance of the
algorithms is evaluated for six…
Advisors/Committee Members: Adeli, Hojjat (Advisor).
Subjects/Keywords: Civil Engineering; Structural vibration; Sliding Mode Control; Adaptive Control; Chattering
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Manager
APA (6th Edition):
Wang, N. (2011). Modified Sliding Mode Control Algorithm for Vibration
Control of Linear and Nonlinear Civil Structures. (Masters Thesis). The Ohio State University. Retrieved from http://rave.ohiolink.edu/etdc/view?acc_num=osu1306705560
Chicago Manual of Style (16th Edition):
Wang, Nengmou. “Modified Sliding Mode Control Algorithm for Vibration
Control of Linear and Nonlinear Civil Structures.” 2011. Masters Thesis, The Ohio State University. Accessed February 29, 2020.
http://rave.ohiolink.edu/etdc/view?acc_num=osu1306705560.
MLA Handbook (7th Edition):
Wang, Nengmou. “Modified Sliding Mode Control Algorithm for Vibration
Control of Linear and Nonlinear Civil Structures.” 2011. Web. 29 Feb 2020.
Vancouver:
Wang N. Modified Sliding Mode Control Algorithm for Vibration
Control of Linear and Nonlinear Civil Structures. [Internet] [Masters thesis]. The Ohio State University; 2011. [cited 2020 Feb 29].
Available from: http://rave.ohiolink.edu/etdc/view?acc_num=osu1306705560.
Council of Science Editors:
Wang N. Modified Sliding Mode Control Algorithm for Vibration
Control of Linear and Nonlinear Civil Structures. [Masters Thesis]. The Ohio State University; 2011. Available from: http://rave.ohiolink.edu/etdc/view?acc_num=osu1306705560
NSYSU
16.
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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Manager
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 29, 2020.
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. 29 Feb 2020.
Vancouver:
Tsai Y. Sliding-Mode Quantized Control of a Class-D Audio Power Amplifier. [Internet] [Thesis]. NSYSU; 2008. [cited 2020 Feb 29].
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
17.
Gurbacki, Phillip.
Feasibility study of a novel method for real-time aerodynamic coefficient estimation.
Degree: Mechanical Engineering, 2010, Rochester Institute of Technology
URL: https://scholarworks.rit.edu/theses/5799
► In this work, a feasibility study of a novel technique for the real-time identification of uncertain nonlinear aircraft aerodynamic coefficients has been conducted. The major…
(more)
▼ In this work, a feasibility study of a novel technique for the real-time identification of uncertain nonlinear aircraft aerodynamic coefficients has been conducted. The major objective of this paper is to investigate the feasability of a system for parameter identification in a real-time flight environment. This system should be able to calculate aerodynamic coefficients and derivative information using typical pilot inputs while ensuring robust, stable, and rapid convergence. The parameter estimator investigated is based upon the nonlinear
sliding mode control schema; one of the main advantages of the
sliding mode estimator is the ability to guarantee a stable and robust convergence. Stable convergence is ensured by choosing a
sliding surface and function that satisfies the Lyapunov stability criteria. After a proper
sliding surface has been chosen, the nonlinear equations of motion for an F-16 aircraft are substituted into the
sliding surface yielding an estimator capable of identifying a single aircraft parameter. Multiple
sliding surfaces are then developed for each of the different flight parameters that will be identified.
Sliding surfaces and parameter estimators have been developed and simulated for the pitching moment, lift force, and drag force coefficients of the F-16 aircraft. Comparing the estimated coefficients with the reference coefficients shows rapid and stable convergence for a variety of pilot inputs. Starting with simple doublet and sin wave commands, and followed by more complicated continuous pilot inputs, estimated aerodynamic coefficients have been shown to match the actual coefficients with a high degree of accuracy. This estimator is also shown to be superior to model reference or adaptive estimators, it is able to handle positive and negative estimated parameters and
control inputs along with guaranteeing Lyapunov stability during convergence. Accurately estimating these aerodynamic parameters in real-time during a flight is essential for advanced
control systems that require the estimated parameters as inputs.
Advisors/Committee Members: Crassidis, Agamemnon.
Subjects/Keywords: Lyapunov estimation; Nonlinear system ID; Parameter estimation; Real-time estimation; Sliding mode control; Sliding observer
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Manager
APA (6th Edition):
Gurbacki, P. (2010). Feasibility study of a novel method for real-time aerodynamic coefficient estimation. (Thesis). Rochester Institute of Technology. Retrieved from https://scholarworks.rit.edu/theses/5799
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):
Gurbacki, Phillip. “Feasibility study of a novel method for real-time aerodynamic coefficient estimation.” 2010. Thesis, Rochester Institute of Technology. Accessed February 29, 2020.
https://scholarworks.rit.edu/theses/5799.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Gurbacki, Phillip. “Feasibility study of a novel method for real-time aerodynamic coefficient estimation.” 2010. Web. 29 Feb 2020.
Vancouver:
Gurbacki P. Feasibility study of a novel method for real-time aerodynamic coefficient estimation. [Internet] [Thesis]. Rochester Institute of Technology; 2010. [cited 2020 Feb 29].
Available from: https://scholarworks.rit.edu/theses/5799.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Gurbacki P. Feasibility study of a novel method for real-time aerodynamic coefficient estimation. [Thesis]. Rochester Institute of Technology; 2010. Available from: https://scholarworks.rit.edu/theses/5799
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
18.
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, Grenoble Alpes
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). Grenoble Alpes. 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, Grenoble Alpes. Accessed February 29, 2020.
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. 29 Feb 2020.
Vancouver:
Huber O. Analyse et implémentation du contrôle par modes glissants en temps discret : Discrete sliding mode control : analysis and implementation. [Internet] [Doctoral dissertation]. Grenoble Alpes; 2015. [cited 2020 Feb 29].
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]. Grenoble Alpes; 2015. Available from: http://www.theses.fr/2015GREAT042
University of Alberta
19.
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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MLA ·
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CSE |
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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 29, 2020.
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. 29 Feb 2020.
Vancouver:
Hodgson SE. Sliding-Mode Control of Pneumatic Actuators for Robots and
Telerobots. [Internet] [Masters thesis]. University of Alberta; 2011. [cited 2020 Feb 29].
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
The Ohio State University
20.
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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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 29, 2020.
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. 29 Feb 2020.
Vancouver:
Cakanel A. SELF-OPTIMIZATION SYSTEMS DESIGN BASED ON SLIDING MODE
CONTROL. [Internet] [Doctoral dissertation]. The Ohio State University; 2017. [cited 2020 Feb 29].
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
Rochester Institute of Technology
21.
DiFiore, Daniel C.
Sliding mode control applied to an underactuated fuel cell system.
Degree: Mechanical Engineering, 2009, Rochester Institute of Technology
URL: https://scholarworks.rit.edu/theses/5771
► In this work, a method for controlling a nonlinear underactuated system using augmented sliding mode control (SMC) is proposed. SMC requires inversion of the input…
(more)
▼ In this work, a method for controlling a nonlinear underactuated system using augmented
sliding mode control (SMC) is proposed. SMC requires inversion of the input influence matrix to derive the desired
control law. In under or over actuated systems this matrix is nonsquare therefore a true inverse does not exist. The proposed
control approach demonstrated in this work involves introducing a transformation matrix mapping the systems input influence matrix to a transformed system that is square and thus invertible. The proposed approach is shown to
control selectable states with proper choice of the transformation matrix yielding good
control performance. The methodology is applied to an underactuated nonlinear fuel cell system to show its viability in a real world application. A
sliding mode controller is derived for the full nonlinear system with a switching gain accounting for modeling errors and uncertainties. Simulation results indicate the viability of the proposed
control law and demonstrate the robust nature of the
control law in the presence of significant modeling errors while maintaining tracking stability. Finally, the augmented SMC is compared to a traditional linear
control architecture illustrating the effectiveness and advantages in tracking performance and
control effort over traditional methods.
Advisors/Committee Members: Crassidis, Agamemnon, Kolodziej, Jason, Das, Tuhin.
Subjects/Keywords: Anode; Augmented; Fuel cell; Nonlinear; Sliding mode control; Underactuated
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APA ·
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CSE |
Export
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Manager
APA (6th Edition):
DiFiore, D. C. (2009). Sliding mode control applied to an underactuated fuel cell system. (Thesis). Rochester Institute of Technology. Retrieved from https://scholarworks.rit.edu/theses/5771
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):
DiFiore, Daniel C. “Sliding mode control applied to an underactuated fuel cell system.” 2009. Thesis, Rochester Institute of Technology. Accessed February 29, 2020.
https://scholarworks.rit.edu/theses/5771.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
DiFiore, Daniel C. “Sliding mode control applied to an underactuated fuel cell system.” 2009. Web. 29 Feb 2020.
Vancouver:
DiFiore DC. Sliding mode control applied to an underactuated fuel cell system. [Internet] [Thesis]. Rochester Institute of Technology; 2009. [cited 2020 Feb 29].
Available from: https://scholarworks.rit.edu/theses/5771.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
DiFiore DC. Sliding mode control applied to an underactuated fuel cell system. [Thesis]. Rochester Institute of Technology; 2009. Available from: https://scholarworks.rit.edu/theses/5771
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
University of Akron
22.
Fei, Juntao.
ADAPTIVE SLIDING MODE CONTROL WITH APPLICATION TO A MEMS
VIBRATORY GYROSCOPE.
Degree: PhD, Mechanical Engineering, 2007, University of Akron
URL: http://rave.ohiolink.edu/etdc/view?acc_num=akron1194886083
► Gyroscopes are commonly used sensors for measuring angular velocity in many areas of applications such as navigation, homing, and control stabilization. Vibratory gyroscopes are the…
(more)
▼ Gyroscopes are commonly used sensors for measuring
angular velocity in many areas of applications such as navigation,
homing, and
control stabilization. Vibratory gyroscopes are the
devices that transfer energy from one axis to the other through
Coriolis forces. Fabrication imperfections result in some cross
stiffness and cross damping effects that may hinder the measurement
of angular velocity of MEMS gyroscope. Other noise sources such as
thermal, mechanical noise also affect the performance. The angular
velocity measurement and minimization of the cross coupling between
two axes are challenging problems in the
control of vibrating
gyroscopes.This dissertation develops adaptive
sliding mode control
strategies for a MEMS z-axis gyroscope. The proposed adaptive
sliding mode controllers for MEMS z-axis gyroscope make real-time
estimates of the angular velocity as well as all unknown gyroscope
parameters including coupling stiffness and damping parameters.
Therefore, fabrication imperfection and time varying noise and
disturbance can be compensated for. These estimates are updated
using the tracking error between the reference model trajectory and
mass’ real trajectory. The reference model trajectory is designed
to satisfy the persistence of excitation condition to enable
parameter estimates to converge to their true values. The indirect
adaptive
sliding mode controller and direct adaptive
sliding mode
controller with proportional and integral
sliding surface are
proposed for MEMS gyroscope. In the presence of unmeasured velocity
states, an adaptive
sliding mode controller with a
sliding mode
observer that can reconstruct the unmeasured states is developed to
estimate the angular velocity and the linear damping and stiffness
coefficients of the gyroscope in real time despite parameter
variations and external disturbance. Moreover, the adaptive
sliding
mode control for two axes angular sensor is extended to triaxial
angular sensor and a novel concept for an adaptively controlled
triaxial angular velocity sensor device that is able to detect
rotation in the three orthogonal axes, using a single vibrating
mass is proposed. The numerical simulations of MEMS gyroscope show
the effectiveness of all the proposed adaptive
sliding mode control
schemes. It is shown that the proposed adaptive
sliding mode
control schemes offer several advantages such as consistent
estimates of gyroscope parameters including angular velocity and
large robustness to parameter variations and
disturbance.
Advisors/Committee Members: Batur, Celal (Advisor).
Subjects/Keywords: Engineering, Mechanical; adaptive sliding mode control; MEMS vibratory gyroscope; angular velocity
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APA ·
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MLA ·
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Export
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Manager
APA (6th Edition):
Fei, J. (2007). ADAPTIVE SLIDING MODE CONTROL WITH APPLICATION TO A MEMS
VIBRATORY GYROSCOPE. (Doctoral Dissertation). University of Akron. Retrieved from http://rave.ohiolink.edu/etdc/view?acc_num=akron1194886083
Chicago Manual of Style (16th Edition):
Fei, Juntao. “ADAPTIVE SLIDING MODE CONTROL WITH APPLICATION TO A MEMS
VIBRATORY GYROSCOPE.” 2007. Doctoral Dissertation, University of Akron. Accessed February 29, 2020.
http://rave.ohiolink.edu/etdc/view?acc_num=akron1194886083.
MLA Handbook (7th Edition):
Fei, Juntao. “ADAPTIVE SLIDING MODE CONTROL WITH APPLICATION TO A MEMS
VIBRATORY GYROSCOPE.” 2007. Web. 29 Feb 2020.
Vancouver:
Fei J. ADAPTIVE SLIDING MODE CONTROL WITH APPLICATION TO A MEMS
VIBRATORY GYROSCOPE. [Internet] [Doctoral dissertation]. University of Akron; 2007. [cited 2020 Feb 29].
Available from: http://rave.ohiolink.edu/etdc/view?acc_num=akron1194886083.
Council of Science Editors:
Fei J. ADAPTIVE SLIDING MODE CONTROL WITH APPLICATION TO A MEMS
VIBRATORY GYROSCOPE. [Doctoral Dissertation]. University of Akron; 2007. Available from: http://rave.ohiolink.edu/etdc/view?acc_num=akron1194886083
University of Cincinnati
23.
Ghosh, Pradipto.
A Critical Study of Linear and Nonlinear Satellite Formation
Flying Control Methodologies From a Fuel Consumption
Perspective.
Degree: MS, Engineering : Aerospace Engineering, 2007, University of Cincinnati
URL: http://rave.ohiolink.edu/etdc/view?acc_num=ucin1187024145
► The novel concept of multiple spacecraft formation flying as a substitute for a single large vehicle will enhance future space mission performance. The benefits of…
(more)
▼ The novel concept of multiple spacecraft formation
flying as a substitute for a single large vehicle will enhance
future space mission performance. The benefits of a spacecraft
formation include more cost effective synthetic aperture radar for
observations, “graceful degradation” of the formation, flexibility
of the satellites altering their roles, reduction of cost owing to
the reduction of mass launched into orbit etc. A significant
challenge in the domain of
control design is to contrive a
formation maintenance controller that will enable the member
spacecrafts to maintain a desired relative orbit with minimal
propellant expenditure. This thesis examines linear and nonlinear
LEO formation
control methodologies, one of each type, with the aim
of evaluating them from a propellant budget, thrust level and error
dynamics standpoint. A Linear Quadratic Regulator has been applied
on <i>J</i>
2-perturbed
Clohessy-Wiltshire dynamics. In order to remove the restriction of
the applicability of Cartesian local vertical local horrizontal
frame based
control laws to only circular leader orbits, a
sliding
mode controller acting on a full nonlinear dynamical model has been
implemented.This work also studies the effects of leader orbit
eccentricity, inclination and formation radius on formation keeping
fuel demand and tracking error. Finally, conclusions are drawn
regarding the suitability of the
control laws considered and
various recommendations made.
Advisors/Committee Members: Bosse, Dr. Albert (Advisor).
Subjects/Keywords: Engineering, Aerospace; Spacecraft formation flying; Sliding mode control; Gravitational perturbation
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Manager
APA (6th Edition):
Ghosh, P. (2007). A Critical Study of Linear and Nonlinear Satellite Formation
Flying Control Methodologies From a Fuel Consumption
Perspective. (Masters Thesis). University of Cincinnati. Retrieved from http://rave.ohiolink.edu/etdc/view?acc_num=ucin1187024145
Chicago Manual of Style (16th Edition):
Ghosh, Pradipto. “A Critical Study of Linear and Nonlinear Satellite Formation
Flying Control Methodologies From a Fuel Consumption
Perspective.” 2007. Masters Thesis, University of Cincinnati. Accessed February 29, 2020.
http://rave.ohiolink.edu/etdc/view?acc_num=ucin1187024145.
MLA Handbook (7th Edition):
Ghosh, Pradipto. “A Critical Study of Linear and Nonlinear Satellite Formation
Flying Control Methodologies From a Fuel Consumption
Perspective.” 2007. Web. 29 Feb 2020.
Vancouver:
Ghosh P. A Critical Study of Linear and Nonlinear Satellite Formation
Flying Control Methodologies From a Fuel Consumption
Perspective. [Internet] [Masters thesis]. University of Cincinnati; 2007. [cited 2020 Feb 29].
Available from: http://rave.ohiolink.edu/etdc/view?acc_num=ucin1187024145.
Council of Science Editors:
Ghosh P. A Critical Study of Linear and Nonlinear Satellite Formation
Flying Control Methodologies From a Fuel Consumption
Perspective. [Masters Thesis]. University of Cincinnati; 2007. Available from: http://rave.ohiolink.edu/etdc/view?acc_num=ucin1187024145
NSYSU
24.
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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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 29, 2020.
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. 29 Feb 2020.
Vancouver:
Li C. Phase-Locked Double-Loop Speed Regulation of a Temperature controlled Fan. [Internet] [Thesis]. NSYSU; 2009. [cited 2020 Feb 29].
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
25.
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 (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 29, 2020.
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. 29 Feb 2020.
Vancouver:
Chen L. Design of Adaptive Sliding Mode Observers for Nonlinear Systems with Mismatched Perturbations. [Internet] [Thesis]. NSYSU; 2015. [cited 2020 Feb 29].
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 Western Australia
26.
Nikraz, Navid.
Sliding mode functional observers for classes of linear and non-linear systems.
Degree: PhD, 2008, University of Western Australia
URL: http://repository.uwa.edu.au:80/R/?func=dbin-jump-full&object_id=26585&local_base=GEN01-INS01
► [Truncated abstract] In many practical situations the physical state of a system cannot be determined by direct observation. The problem of constructing both state and…
(more)
▼ [Truncated abstract] In many practical situations the physical state of a system cannot be determined by direct observation. The problem of constructing both state and functions of the states is currently one of the leading topics in Control Engineering. Since the reemergence of the state-space methods to form a direct multivariable approach to linear control systems synthesis and design, a host of controllers now exist to meet the qualitative and quantitative criteria including system stability and optimality. Sliding Mode Control (SMC) has been successfully applied to many practical control problems due to its attractive features such as invariance to matched uncertainties. The characteristic feature of the continuous-time SMC system is that sliding mode occurs on a prescribed manifold, where switching control is employed to maintain the state on the surface. When a sliding mode is realised, the system exhibits some superior robustness properties with respect to external matched uncertainties. Systems with sliding modes have proven to be an efficient tool to control complex high-order nonlinear dynamic plants operating under uncertainty conditions, a common problem for many processes that are in modern control. It is acknowledged that the notion of the sliding mode observer is inherently critical to the field of sliding mode control. Sliding mode state observers have been the focus of research in the field of control for the past decade and their applications have extended to most areas in this field. The concept of the Sliding Mode Functional Observers is an area that is untouched by previous research. This thesis introduces the concept of the Sliding Mode Functional Observer and demonstrates its vast potential in the field of control. It is appreciated that sliding mode observers do have a very important place in the field of control, and in particular motor control. However, it has been discovered that currently one of the major fallbacks of sliding mode
observers is their strict and sometimes unrealistic boundaries and conditions on systems. This has narrowed the scope to which they can effectively be applied to practical cases. The major objective of this thesis is to extend the application of sliding mode observers to incorporate sliding mode functional observers for systems that exhibit somewhat unique properties, that have made the practical applications relatively difficult in the past. In this thesis the Sliding Mode Functional Observer is applied to a number critical areas in control; Neutral-Delay System, Systems with Unknown Inputs, Non- Linear Systems and Descriptor Systems. Firstly the problem of estimating a linear function of the states of a class of linear time-delay systems of the neutral-type using sliding mode functional observers is investigated. Next, conditions for designing a sliding mode functional observer when the system is subjected to unknown inputs are presented, reducing the existence conditions for the Utkin Observer and also reducing the well known Matching and Observability…
Subjects/Keywords: Linear systems; Nonlinear systems; Sliding mode control; System design
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APA (6th Edition):
Nikraz, N. (2008). Sliding mode functional observers for classes of linear and non-linear systems. (Doctoral Dissertation). University of Western Australia. Retrieved from http://repository.uwa.edu.au:80/R/?func=dbin-jump-full&object_id=26585&local_base=GEN01-INS01
Chicago Manual of Style (16th Edition):
Nikraz, Navid. “Sliding mode functional observers for classes of linear and non-linear systems.” 2008. Doctoral Dissertation, University of Western Australia. Accessed February 29, 2020.
http://repository.uwa.edu.au:80/R/?func=dbin-jump-full&object_id=26585&local_base=GEN01-INS01.
MLA Handbook (7th Edition):
Nikraz, Navid. “Sliding mode functional observers for classes of linear and non-linear systems.” 2008. Web. 29 Feb 2020.
Vancouver:
Nikraz N. Sliding mode functional observers for classes of linear and non-linear systems. [Internet] [Doctoral dissertation]. University of Western Australia; 2008. [cited 2020 Feb 29].
Available from: http://repository.uwa.edu.au:80/R/?func=dbin-jump-full&object_id=26585&local_base=GEN01-INS01.
Council of Science Editors:
Nikraz N. Sliding mode functional observers for classes of linear and non-linear systems. [Doctoral Dissertation]. University of Western Australia; 2008. Available from: http://repository.uwa.edu.au:80/R/?func=dbin-jump-full&object_id=26585&local_base=GEN01-INS01
The Ohio State University
27.
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 29, 2020.
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. 29 Feb 2020.
Vancouver:
Swikir AML. CHATTERING ANALYSIS OF THE SYSTEM WITH HIGHER ORDER SLIDING
MODE CONTROL. [Internet] [Masters thesis]. The Ohio State University; 2015. [cited 2020 Feb 29].
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
Virginia Tech
28.
Caffee, Joshua Aaron.
Improvement of Anti-Lock Braking Algorithms Through Parameter Sensitivity Analysis and Implementation of an Intelligent Tire.
Degree: MS, Mechanical Engineering, 2010, Virginia Tech
URL: http://hdl.handle.net/10919/76894
► The contact patch of the tire is responsible for all of the transmission of a vehicle's motion to the road surface. This small area is…
(more)
▼ The contact patch of the tire is responsible for all of the transmission of a vehicle's motion to the road surface. This small area is responsible for the acceleration, stopping and steering
control of the vehicle. Throughout the development of vehicle safety and stability
control systems, it is desirable to possess the exact forces and moments at the tire contact patch. The tire is a passive element in the system, supplying no explicit information to vehicle
control systems. Current safety and stability algorithms use estimated forces at the tire contact patch to develop these
control strategies. An "intelligent" tire that is capable of measuring and transmitting the instantaneous forces and moments at the contact patch to the
control algorithms in real-time holds promise to improve vehicle safety and performance. Using the force and friction information measured at the contact patch, an anti-lock braking
control strategy is developed using
sliding mode control. This strategy is compared to the performance of a current commercial anti-lock braking system that has been optimized by performing a threshold sensitivity analysis. The results show a definite improvement in
control system strategy having known information at the tire contact patch.
Advisors/Committee Members: Taheri, Saied (committeechair), Ahmadian, Medhi (committee member), Ferris, John B. (committee member).
Subjects/Keywords: slip; force; intelligent tire; stability control; sliding mode controller
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APA (6th Edition):
Caffee, J. A. (2010). Improvement of Anti-Lock Braking Algorithms Through Parameter Sensitivity Analysis and Implementation of an Intelligent Tire. (Masters Thesis). Virginia Tech. Retrieved from http://hdl.handle.net/10919/76894
Chicago Manual of Style (16th Edition):
Caffee, Joshua Aaron. “Improvement of Anti-Lock Braking Algorithms Through Parameter Sensitivity Analysis and Implementation of an Intelligent Tire.” 2010. Masters Thesis, Virginia Tech. Accessed February 29, 2020.
http://hdl.handle.net/10919/76894.
MLA Handbook (7th Edition):
Caffee, Joshua Aaron. “Improvement of Anti-Lock Braking Algorithms Through Parameter Sensitivity Analysis and Implementation of an Intelligent Tire.” 2010. Web. 29 Feb 2020.
Vancouver:
Caffee JA. Improvement of Anti-Lock Braking Algorithms Through Parameter Sensitivity Analysis and Implementation of an Intelligent Tire. [Internet] [Masters thesis]. Virginia Tech; 2010. [cited 2020 Feb 29].
Available from: http://hdl.handle.net/10919/76894.
Council of Science Editors:
Caffee JA. Improvement of Anti-Lock Braking Algorithms Through Parameter Sensitivity Analysis and Implementation of an Intelligent Tire. [Masters Thesis]. Virginia Tech; 2010. Available from: http://hdl.handle.net/10919/76894
Northeastern University
29.
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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Manager
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 29, 2020.
http://hdl.handle.net/2047/D20291353.
MLA Handbook (7th Edition):
Jiang, Nianyu. “A robust-adaptive control strategy for gear bearing drive systems.” 2018. Web. 29 Feb 2020.
Vancouver:
Jiang N. A robust-adaptive control strategy for gear bearing drive systems. [Internet] [Masters thesis]. Northeastern University; 2018. [cited 2020 Feb 29].
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
Northeastern University
30.
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 ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
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 29, 2020.
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. 29 Feb 2020.
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 2020 Feb 29].
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
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Open Access Theses and Dissertations