Decentralized Variable Structure Control Design in Perturbed Nonlinear Systems

1993 ◽  
Vol 115 (3) ◽  
pp. 551-554 ◽  
Author(s):  
Wen-June Wang ◽  
Jia-Ling Lee
Keyword(s):  
Large Scale ◽  
Sliding Mode ◽  
Design Method ◽  
Hierarchical Control ◽  
Variable Structure Control ◽  
Variable Structure ◽  
Lyapunov Theory ◽  
Pendulum System ◽  
Large Scale Systems ◽  
Structure Control

This paper presents a new robust decentralized variable structure control (DVSC) to stabilize a class of perturbed nonlinear large-scale systems. Only the bounds of perturbations, disturbances and interconnections of the system are needed. Based on Lyapunov theory, the DVSC is designed such that a Lyapunov function converges to a composite switching hyperplane in finite time, at least with an exponential rate. Our design method need not use the dynamic compensation or the integral of interconnections in the sliding mode definition, or the hierarchical control. Furthermore, both the convergence rate and the hitting time can be assigned. Finally, a two-pendulum system is given to illustrate the design method.

A New Variable Structure Control Scheme for Mismatched Uncertain Large Scale Systems

2015 ◽  
Vol 789-790 ◽  
pp. 1005-1010
Author(s):  
Yao Wen Tsai ◽  
Phan Van Duc ◽  
Van Van Huynh
Keyword(s):  
Large Scale ◽  
Controller Design ◽  
Sliding Mode ◽  
Variable Structure Control ◽  
Variable Structure ◽  
Order System ◽  
Large Scale Systems ◽  
Structure Control ◽  
Control Scheme ◽  
Output Information

In this paper, a new decentralized adaptive output feedback variable structure control scheme is designed for mismatched uncertain large-scale systems where the exogenous disturbance is unknown. The proposed approach uses output information completely in sliding surface and controller design. Therefore, conservatism is reduced and robustness is enhanced. Furthermore, the reduce order system in sliding mode is asymptotically stable under certain conditions. Finally, a numerical example is used to demonstrate the efficacy on the method.

Variable Structure Hybrid Control of Manipulators in Unconstrained and Constrained Motion

1996 ◽  
Vol 118 (2) ◽  
pp. 327-332 ◽  
Author(s):  
Robert R. Y. Zhen ◽  
Andrew A. Goldenberg
Keyword(s):  
Control Method ◽  
Hybrid Control ◽  
Sliding Mode ◽  
Robot Manipulators ◽  
Hierarchical Control ◽  
Variable Structure Control ◽  
Variable Structure ◽  
Control Algorithms ◽  
Constrained Motion ◽  
Structure Control

This paper addresses the problem of robust hybrid position and force control of robot manipulators. Variable structure control with sliding mode is used to implement the hybrid control strategy. Two variable structure control algorithms are developed in task space. One of the algorithms is based on hierarchical control method, and the other is developed for control of robot manipulators used to carried out both unconstrained and constrained tasks.

The Research Based on Fuzzy Sliding Mode Control for Linear Double Inverted Pendulum

2014 ◽  
Vol 926-930 ◽  
pp. 1463-1467
Author(s):  
Li Ding ◽  
Shu Bo Qiu
Keyword(s):  
Sliding Mode Control ◽  
Inverted Pendulum ◽  
Sliding Mode ◽  
Variable Structure Control ◽  
Variable Structure ◽  
Pendulum System ◽  
Structure Control ◽  
Inverted Pendulum System ◽  
Fuzzy Sliding Mode ◽  
Sliding Mode Variable Structure

This paper involves a linear double inverted pendulum system whose the state space model is established by Lagrange function. In order to solve the chattering problem of the conventional quasi-sliding mode variable structure control, this linear double inverted pendulum system applies the fuzzy control theory to adjust the parameterwhich is in the sliding mode variable structure control law. Then the fuzzy theory is utilized to design the sliding mode and deduce the fuzzy sliding mode reaching law. The significance of this method is that it diffuses the control signal, reduces or avoids the chattering phenomenon of sliding mode control. For the most, the simulation results show that the linear double inverted pendulum system based on fuzzy sliding mode variable structure control not only retains the strong robustness of sliding mode variable structure control, but also improves the dynamic quality of the system and weakens the buffeting of the system. Thus the method is proved to have certain research.

Local State Covariance Assignment for Stochastic Large-Scale Systems

1999 ◽  
Vol 121 (1) ◽  
pp. 139-142 ◽  
Author(s):  
Koan-Yuh Chang ◽  
Wen-June Wang
Keyword(s):  
Large Scale ◽  
Sliding Mode ◽  
Variable Structure ◽  
Matching Condition ◽  
Local State ◽  
Invariance Property ◽  
Feedback Gain ◽  
Variable Structure Systems ◽  
Large Scale Systems ◽  
Structure Control

Based on the concept of variable structure control, this paper investigates the local state covariance assignment problem for stochastic large-scale systems. By using the invariance property of variable structure systems, the interconnection terms with matching condition will disappear on the sliding mode. With the aid of Ito-formula, the hitting controller of each subsystem is derived. Combining the sliding phase and hitting phase of the system design, the local feedback gain matrix Gi for each subsystem is obtained to achieve the local state covariance assignment.

Decentralized Variable-Structure Control for Uncertain Large-Scale Systems

1995 ◽  
Vol 28 (16) ◽  
pp. 253-258
Author(s):  
Qing Wang ◽  
Hualong Xu ◽  
Changhua Hu ◽  
Xinhai Chen
Keyword(s):  
Large Scale ◽  
Variable Structure Control ◽  
Variable Structure ◽  
Large Scale Systems ◽  
Structure Control
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