A modified variable structure control algorithm for stabilization of uncertain dynamical systems

1993 ◽  
Vol 3 (3) ◽  
pp. 199-209 ◽  
Author(s):  
Ashot Nersisian ◽  
Roberto Zanasi
Keyword(s):  
Dynamical Systems ◽  
Control Algorithm ◽  
Variable Structure Control ◽  
Variable Structure ◽  
Structure Control ◽  
Uncertain Dynamical Systems

Research of Trajectory Tracking Algorithms for Industrial Robot

2014 ◽  
Vol 568-570 ◽  
pp. 922-926
Author(s):  
Cheng Liu ◽  
Xue Ren Li ◽  
Yun Ze Li
Keyword(s):  
Trajectory Tracking ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Industrial Robot ◽  
Variable Structure Control ◽  
Variable Structure ◽  
Fast Variable ◽  
Control Effect ◽  
Improve Response Rate ◽  
Structure Control

the paper firstly designs dynamics model of a 6-DOF vertical multi-joint robot and simplifies it, aiming at the existing algorithms PID path tracking control, the paper put forward two new algorithms based on the analysis of the variable structure control: fast variable structure control algorithm and adaptive fuzzy variable structure control algorithm. The fast variable structure control algorithm can improve the control effect by optimizing the reaching movement. By introducing adaptive processing and fuzziness into reaching law of traditional variable structure control, the reaching motion is improved during sliding mode process. The results show that the two algorithms can not only improve response rate, but also ensure the accuracy of trajectory tracking, as well as the advantages of simple structure, high robustness and adaptability.

scholarly journals Active Power Filter DC Bus Voltage Piecewise Reaching Law Variable Structure Control

2014 ◽  
Vol 2014 ◽  
pp. 1-8 ◽  
Author(s):  
Baolian Liu ◽  
Zujun Ding ◽  
Huanyu Zhao ◽  
Defei Jin
Keyword(s):  
Control Algorithm ◽  
Variable Structure Control ◽  
Active Power Filter ◽  
Variable Structure ◽  
Active Power ◽  
Structure Control ◽  
Reaching Law ◽  
Power Filter ◽  
Dc Bus ◽  
Bus Voltage

The DC bus voltage stability control is one key technology to ensure that Active Power Filter (APF) operates stably. The external disturbances such as power grid and load fluctuation and the system parameters changing may affect the stability of APF DC bus voltage and the normal operation of APF. The mathematical model of DC bus voltage is established according to power balance principle and a DC bus voltage piecewise reaching law variable structure control algorithm is proposed to solve the above problem, and the design method is given. The simulation and experiment results proved that the proposed variable structure control algorithm can eliminate the chattering problem existing in traditional variable structure control effectively, is insensitive to system disturbance, and has good robustness and fast dynamic response speed and stable DC bus voltage with small fluctuation. The above advantages ensure the compensation effect of APF.

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