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Last updated on October 28, 2024. This conference program is tentative and subject to change
Technical Program for Wednesday October 23, 2024
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WeA1 |
G 01011 |
Adaptive and Neural-Network-Based SMC |
Regular Session |
Chair: Ferrara, Antonella | University of Pavia |
Co-Chair: Rehan, Ahmed | Khalifa University |
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09:30-09:45, Paper WeA1.1 | |
Model-Free Sliding Mode Control Using Time-Delay Estimation and Adaptive Technique Applied to Manipulators |
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Vo, Anh Tuan | University of Ulsan |
Truong, Thanh Nguyen | University of Ulsan |
Kang, Hee-Jun | Intelligent Robot System Lab, University of Ulsan |
Nguyen, Ngoc Hoai An | School of Electrical Engineering, University of Ulsan, Daehak-Ro |
Keywords: Adaptive Sliding Mode, Application of Sliding Mode Control to other theoretical problems, Lyapunov Methods for Variable Structure Systems & Sliding Mode Control
Abstract: This paper synthesizes a novel robust controller tailored for industrial robot arms, seamlessly integrating sliding mode control (SMC), adaptive techniques, and time-delay estimation (TDE). Leveraging TDE, our controller adeptly estimates both the inherent dynamics of the robot and unstructured uncertainties like disturbances and parameter variations. However, since TDE relies on past angular acceleration and input torque, it inevitably introduces errors. To tackle this, our approach compensates for current TDE errors using past TDE error information. By considering value of the current updating parameters and the sampling time, an adaptive law has been proposed to ensure the positivity of these parameters and the chattering control signals. Through extensive simulated studies conducted on industrial robot manipulators, we demonstrate the effectiveness of our control approach, showcasing robustness, reduced chattering, and high accuracy across diverse scenarios.
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09:45-10:00, Paper WeA1.2 | |
Final Set Adjustment Using Barrier Function Adaptation of Signed-Power Controllers: An Experimental Study |
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González, Andrés | Universidad Nacional Autónoma De México |
Ovalle, Luis | Universidad Nacional Autónoma De México |
Fridman, Leonid M. | National Autonomous University of Mexico |
Keywords: Adaptive Sliding Mode, First Order Sliding Mode, Lyapunov Methods for Variable Structure Systems & Sliding Mode Control
Abstract: Barrier function adaptation of signed-power-based controllers extends the theoretical abilities of the barrier function adaptation of sliding mode controllers so that the size of the positive invariant final set can be adjusted. This paper demonstrates that these theoretical results can be demonstrated in non-ideal settings by means of experiments in a Furuta pendulum. In particular, the ability to modify the achieved predefined ultimate bound and the advantages of bi-power-based controllers are experimentally verified. Furthermore some insightful discussions and comparisons are presented which argue in favor of the practical benefits of barrier function adaptations of signed-power- and bi-power-based controllers.
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10:00-10:15, Paper WeA1.3 | |
String Periodic Steady-State Stabilization Via Boundary Sliding Mode Limit Cycle Generation |
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Aguilar, Luis T. | Instituto Politecnico Nacional |
Orlov, Yury | CICESE |
Keywords: Application of Sliding Mode Control to other theoretical problems, Lyapunov Methods for Variable Structure Systems & Sliding Mode Control, Higher Order Sliding Mode
Abstract: Periodic motion generation in flexible cables via boundary actuation aims to address a practical challenge in resolving issues related to cable entanglement or its trapping. Thus motivated, the present research explores the use of self-wave propagation based on the Van der Pol reference model approach to generate a limit cycle at the actuated boundary. To address the problem in question a hyperbolic PDE (partial differential equation) string model with an appropriate dynamic boundary actuation is adopted as a case study. For generating a desired in-domain periodic steady-state motion a boundary van-der-Pol-based reference model, possessing a limit cycle, is brought into play. A SOSM (second-order sliding mode) algorithm is then applied to track the proposed reference model at the actuated boundary. The resulting closed-loop system is demonstrated to asymptotically converge to a periodic steady-state motion. The performance and robustness features of the developed design are supported by numerical simulations.
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10:15-10:30, Paper WeA1.4 | |
Design of Neural Networks Based Sliding Mode Control and Observation: An Overview |
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Ferrara, Antonella | University of Pavia |
Incremona, Gian Paolo | Politecnico Di Milano |
Vacchini, Edoardo | University of Pavia |
Sacchi, Nikolas | University of Pavia |
Keywords: Application of Sliding Mode Control to other theoretical problems, Sliding Mode based Observation
Abstract: This paper presents an overview of some sliding mode control and observation schemes based on the joint use of neural networks (NNs) and the so-called integral sliding mode (ISM) algorithm. More precisely, the utilization of a NN-based approach is aimed at estimating the unknown dynamics of the process, thus providing a model for the design of the ISM strategy. Both the ISM controller and observer syntheses are discussed in this work. Moreover, assuming the presence of state and input constraints, a recent version of a control scheme based on model predictive control (MPC) and NN-based ISM is presented. The convergence performance of the proposed approaches are illustrated and assessed in simulation.
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10:30-10:45, Paper WeA1.5 | |
PID Tuning Using Neural Network Classification of Self-Excited Oscillations |
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Rehan, Ahmed | Khalifa University |
Boiko, Igor | Khalifa University of Science and Technology |
Zweiri, Yahya | Khalifa University |
Keywords: Process Industry
Abstract: This paper proposes a method for tuning PID controllers based on the shape of self-excited oscillations in a system. The approach utilizes a Modified Relay Feedback Test (MRFT) to excite oscillations and a Neural Network (NN) classifier to identify their shapes. The novelty of this work lies in the application of shape-based tuning, categorized into triangular, sinusoidal, wavy, and curved triangular waveforms, each with distinct Tuning Rules (TR)s for integrating and non-integrating systems. A feedforward neural network is developed to classify the MRFT-induced oscillation shapes, enabling the application of appropriate TRs. This classifier shows remarkable accuracy with noise-free signals, and through retraining with noisy data, maintains high performance, outperforming traditional linear discriminant analysis. The study concludes that the NN-based classification significantly enhances the precision of PID tuning by accurately identifying the oscillation shape, thereby ensuring the application of the most effective TR.
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10:45-11:00, Paper WeA1.6 | |
Adaptive Sliding Mode Control for Tower Crane System with Boundary Layer Function |
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Mohiuddin, Mohammed Basheer | Khalifa University |
Haddad, Abdel Gafoor | Khalifa University |
Boiko, Igor | Khalifa University of Science and Technology |
Zweiri, Yahya | Khalifa University |
Keywords: First Order Sliding Mode, Chattering Analysis, Adaptive Sliding Mode
Abstract: In the field of industrial automation, precise control of tower crane operations is critical to ensure safety and efficiency. This paper introduces a novel adaptive sliding mode control (ASMC) strategy aimed at enhancing the control of the trolley motion along the jib of a tower crane. The primary goal of this control system is to effectively suppress the undesirable oscillations—commonly referred to as "chattering"—that often cause damage to the equipment. Such chattering not only compromises the safety of crane operations but also affects the longevity of the equipment. The proposed ASMC strategy incorporates adaptive mechanisms that adjust the controller parameters in real-time. This adaptability ensures robust performance and significantly mitigates chattering without sacrificing the system's responsiveness. Furthermore, the developed controller has been successfully deployed and rigorously tested on an experimental setup of a real-world tower crane system. The experimental results demonstrate the efficiency of the ASMC in reducing chattering, thereby validating its potential for real-world applications in tower crane systems. This research contributes to the ongoing efforts in automation technology by providing a reliable solution to a prevalent challenge in crane operations. A video demonstration of the experiments can be found at https://youtu.be/-TRNeVKn7KY.
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11:00-11:15, Paper WeA1.7 | |
Step-Test Based Procedure for Super-Twisting Algorithm Gains Adjustment |
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Medvedeva, Taisia | Sirius University |
Sumenkov, Oleg | Sirius University of Science and Technology |
Fridman, Leonid M. | National Autonomous University of Mexico |
Keywords: Chattering Analysis, Higher Order Sliding Mode
Abstract: Super-Twisting Algorithms (STA) is a non-linear PI-like continuous Sliding Mode (SM) algorithm designed to substitute discontinuous control to continuous and to realise a second-order SM for systems with relative degree one. It is able to compensate the Lipschitz disturbances theoretically exactly and ensures finite-time convergence. However, due to the finite-time convergence of STA and the presence of non-idealities in the system, chattering occurs. This paper proposes a step-test based procedure for adjusting the STA gains to minimize chattering amplitude. We assume that system non-idealities can be modeled as a specific first-order system, namely, with time delay, time constant and system gain. The procedure consists of two steps: on the first stage, identifying the parameters of system; on the second step, predicting the amplitude and frequency of the chattering based on the Describing Function approach and the Harmonic Balance equation, then obtaining expressions of the chattering amplitude and frequency as functions of STA gains and, finally, adjusting the STA parameters based on predicted chattering behavior. This approach is verified on both simulations and experiments on a Maxon RE50 DC Motor.
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WeB1 |
G 01011 |
Homogeneity and Lyapunov Methods for VSS |
Regular Session |
Chair: Barbot, Jean Pierre | CNRS |
Co-Chair: Reger, Johann | TU Ilmenau |
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14:00-14:15, Paper WeB1.1 | |
An Interconnected Discrete Time Cascaded Semi-Implicit Differentiation |
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Michel, Loïc | Ecole Centrale De Nantes |
Ghanes, Malek | Centrale Nantes, LS2N |
Aoustin, Yannick | Université De Nantes |
Barbot, Jean Pierre | CNRS |
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14:15-14:30, Paper WeB1.2 | |
Stabilization of the Cart Pendulum Using a Homogeneous Controller |
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Ortega, Jose Antonio | Universidad Nacional Autónoma De México |
Efimov, Denis | Inria |
Polyakov, Andrey | Inria Lille |
Moreno, Jaime A | Universidad Nacional Autonoma De Mexico-UNAM |
Fridman, Leonid M. | National Autonomous University of Mexico |
Keywords: Homogeneity Methods for Variable Structure Systems & Sliding Mode Control, Higher Order Sliding Mode
Abstract: This manuscript addresses the problem of stabilization of a cart pendulum using a homogeneous controller. The model of the cart pendulum is composed by a combination of strict-feedback and feedforward parts. The proposed homogeneous controller allows the feedforward nonlinearities to be globally dominated. Emphasizing the simplicity of the controller's design, the methodology relies on solving a system of linear matrix inequalities. Furthermore, a finite-time bound of convergence is evaluated. The effectiveness of the proposed methodology is validated through experimental results on a real cart pendulum.
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14:30-14:45, Paper WeB1.3 | |
Minimizing the Homogeneous Lp-Gain of the Continuous Super-Twisting-Like Algorithm Subject to Noise |
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Calmbach, Benjamin | TU Ilmenau |
Moreno, Jaime A | Universidad Nacional Autonoma De Mexico-UNAM |
Reger, Johann | TU Ilmenau |
Keywords: Homogeneity Methods for Variable Structure Systems & Sliding Mode Control, Lyapunov Methods for Variable Structure Systems & Sliding Mode Control, Sliding Mode based Observation
Abstract: We consider homogeneous systems with inputs and outputs, i.e. homogeneous input-output mappings, and observe that the classical Lp-gain is not suitable. Hence, the recently introduced dilation-invariant homogeneous Lp-gain (Lph-gain) is regarded. We focus on the continuous super-twisting-like algorithm (CSTLA) acting as a differentiator and propose a Lyapunov function to prove stability of the free system. This is used as a candidate storage function to estimate the Lph-gain for p ≥ 2 with the homogeneous dissipation inequality. In a high-gain setup, scaled gains are designed that minimize the effect of noise and disturbance on the second state in terms of the Lph-gain estimate. A larger family of Lyapunov functions leads to less conservatism for the stability and Lph-gain analysis. Further, given the frequency response measurements for a periodic input with constant amplitude, the response for any other amplitude is determined using homogeneity. In contrast, the maximum of the scaling-invariant homogeneous frequency response yields a lower bound on the Lph-gain.
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14:45-15:00, Paper WeB1.4 | |
A Model-Free Fixed-Time Terminal Sliding Mode Control Method for Robot Systems |
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Truong, Thanh Nguyen | University of Ulsan |
Vo, Anh Tuan | University of Ulsan |
Kang, Hee-Jun | Intelligent Robot System Lab, University of Ulsan |
Keywords: Lyapunov Methods for Variable Structure Systems & Sliding Mode Control, Application of Sliding Mode Control to other theoretical problems, First Order Sliding Mode
Abstract: This paper addresses some of the key challenges associated with sliding mode control (SMC)--based trajectory tracking for robotic manipulators. The primary objective is to enhance the accuracy of the follow-up while minimizing chattering behavior and ensuring robustness against uncertainty components and disturbances. Furthermore, this paper aims to eliminate the reliance on complete or partial knowledge of system dynamics, especially in the context of model-based SMC methods. Finally, the paper focuses on achieving fixed-time global convergence rates for the system. To address these issues, we first design a fixed-time terminal sliding mode control (TSMC) method and analyze its limitations. We then propose a model-free fixed-time TSMC strategy to overcome these limitations, removing the necessity for a dynamic model of the robotic system, thus enhancing practical implementation. The proposed approach ensures the tracking error converges to zero within a predetermined fixed time, and its fixed-time global stability is rigorously demonstrated using Lyapunov theory. Extensive simulations on the SAMSUNG FARA AT2 robotic arm were conducted to validate the proposed strategy. The results showed improved tracking performance and a significant reduction in chattering in the control input.
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15:00-15:15, Paper WeB1.5 | |
Finite-Time Reaching Law Based Sliding Mode Control of Quantum Systems |
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Taslima, Eram | IIt BHU (Varanasi) |
Kamal, Shyam | Indian Institute of Technology (BHU), Varanasi |
Saket, R. K. | Indian Institute of Technology (BHU), Varanasi |
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15:15-15:30, Paper WeB1.6 | |
LMI-Based Robust Multivariable Super-Twisting Algorithm Design for a Class of Linear Systems |
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Nunes, Eduardo Vieira Leao | COPPE - Federal Univ. of Rio De Janeiro |
Geromel, Jose C. | UNICAMP |
Hsu, Liu | COPPE - Federal University of Rio De Janeiro |
Keywords: Lyapunov Methods for Variable Structure Systems & Sliding Mode Control, Higher Order Sliding Mode
Abstract: This paper applies a generalized Multivariable Super-Twisting Algorithm (MSTA) to the control of a class of linear systems subject to exogenous disturbance with time-derivative bounded norm and convex bounded parameter uncertainty. It is shown that the MSTA can stabilize any element of the class under consideration. In addition, robust performance is also addressed through the solution of a convex programming problem expressed by LMIs coupled to a line search procedure. An illustrative example is presented and discussed.
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15:30-15:45, Paper WeB1.7 | |
Switching Control for Load Sway Suppression of a Rotary Crane Using Only Horizontal Boom Motion |
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Hurter, Katrina | University of Stuttgart |
Wolff, Frank | University of Stuttgart |
Sawodny, Oliver | University of Stuttgart |
Uchiyama, Naoki | Toyohashi University of Technology |
Keywords: Lyapunov Methods for Variable Structure Systems & Sliding Mode Control, Sliding Mode based Observation
Abstract: The paper deals with automatic load sway reduction for boom cranes, an increasingly important topic in the field due to its use towards increased productivity and safety. Boom cranes are a type of rotary crane, where the load is suspended by a rope from the tip of a boom based at the crane centre. This allows for vertical movement by adjusting the inclination of the boom, and horizontal movement through rotation around the base of the boom. In most research, both vertical and horizontal boom motion are used to control load sway. However, the vertical motion expends more energy as it moves against gravity. Our task is to use only the horizontal motion to perform positioning of the boom and load sway reduction in two directions, thus reducing energy cost. In order to achieve this, a new two mode switching controller is developed, which uses logical arguments to switch between goal-specific modes. Mode 1 focuses on the correct positioning of the boom through the use of a trajectory and a linear quadratic controller, Mode 2 focuses on load sway reduction through the use of a linear quadratic controller. Two different approaches for scheduling the switching times between the modes are developed. The resulting controller is successfully verified both in simulation and experiments on a laboratory crane.
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WeC1 |
G 01011 |
Higher Order Sliding Modes (Session Dedicated to Leonid Fridman) |
Regular Session |
Chair: Moreno, Jaime A | Universidad Nacional Autonoma De Mexico-UNAM |
Co-Chair: Basin, Michael V. | Autonomous Univ. of Nuevo Leon |
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16:20-16:35, Paper WeC1.1 | |
Tribute to Leonid Fridman |
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Boiko, Igor | Khalifa University of Science and Technology |
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16:35-16:50, Paper WeC1.2 | |
Experimental Benchmarking of Energy-Saving Sub-Optimal Sliding Mode Control |
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Ruderman, Michael | University of Agder |
Keywords: Higher Order Sliding Mode, Electric Drives And Actuators, Chattering Analysis
Abstract: The recently introduced energy-saving extension of the sub-optimal sliding mode control allows for control-off phases during the convergence to second-order equilibrium. This way, it enables for a lower energy consumption compared to the original sub-optimal sliding mode (SM) algorithm, both commutating a discontinuous control signal. In this paper, the energy-saving sub-optimal SM control is experimentally benchmarked against a standard second-order SM controller which also has a discontinuous control action. Here the so-called terminal second-order SM algorithm is used. The controlled plant is affected by the matched bounded disturbances which are unknown, and the output is additionally subject to the sensor noise. Moreover, a first-order actuator dynamics can lead to chattering, which is parasitic for SM applications. For a fair comparison, the same quadratic terminal surface is designed when benchmarking both SM controllers. Both experimentally compared SM algorithms have the same (bounded) control magnitude and states initial conditions.
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16:50-17:05, Paper WeC1.3 | |
Higher/Second Order Sliding Mode Control in Nonminimum Phase Systems Using Generalized Relative Degree: Aerospace Application |
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Shtessel, Yuri B. | Univ. of Alabama at Huntsville |
Plestan, Franck | Ecole Centrale De Nantes-CNRS |
Jesionowski, Robert | UAH |
Keywords: Higher Order Sliding Mode
Abstract: Output tracking control design in nonminimum phase systems (NMP) using relative degree (RD) approach can fail due instability of internal/zero dynamics attributed to NMP systems. The use of Generalized Relative Degree (GRD) in NMP systems allows eliminating internal dynamics while yielding control dynamic extension that exhibits instability. A proposed methodology of using GRD for designing continuous Higher/Second Order Sliding Mode Control (HOSMC/2-SMC) in perturbed nonminimum phase systems is presented. An algorithm for generating a bounded solution of the unstable dynamic extension is used in concert with HOSMC/2-SMC, allowing a robust control design for NMP systems. The efficacy of the proposed GRD-based HOSMC/2-SMC design is demonstrated on a NMP rocket attitude control problem both analytically and via simulation.
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17:05-17:20, Paper WeC1.4 | |
Output Feedback Control of Second-Order Systems Via Lipschitz Continuous Sliding Modes |
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Texis-Loaiza, Oscar | Brandenburg University of Technology Cottbus-Senftenberg |
Estrada, Manuel A. | Universidad Nacional Autónoma De México |
Fridman, Leonid M. | National Autonomous University of Mexico |
Moreno, Jaime A | Universidad Nacional Autonoma De Mexico-UNAM |
Levant, Arie | Tel - Aviv University |
Keywords: Higher Order Sliding Mode, Homogeneity Methods for Variable Structure Systems & Sliding Mode Control, Application of Sliding Mode Control to other theoretical problems
Abstract: This paper presents an output feedback approach for second-order systems with non-vanishing perturbations. The proposed approach allows us to compensate for non-vanishing Lipschitz perturbations theoretically exactly while generating a textit{Lipschitz continuous control signal}, reducing the energy consumption by the control. To achieve such a Lipschitz continuous sliding mode control, we propose a homogeneous third-order sliding mode control law and a second-order sliding mode observer; then, we prove the finite-time stable equilibrium in a closed loop with the system. The feasibility of the result is shown through a simulation example.
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17:20-17:35, Paper WeC1.5 | |
Robust Exact Fixed-Time Differentiators with Filtering Capabilities |
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Jbara, Adam | Tel Aviv University |
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17:35-17:50, Paper WeC1.6 | |
Low-Cost Predefined-Time Convergent Super-Twisting Algorithm Control Design |
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Lopez Coronado, Ramon | Autonomous University of Nuevo Leon |
Basin, Michael V. | Autonomous Univ. of Nuevo Leon |
Mi, Xiaoxiao | Ningbo University of Technology |
Keywords: Higher Order Sliding Mode
Abstract: This paper presents a modified super-twisting control algorithm which drives the state of a scalar system at the origin for a predefined time with a low control cost. The designed control law is used for stabilizing a state of a scalar permanent-magnet synchronous motor system in three different cases: disturbance-free, with rate-bounded disturbances, and with both rate-bounded deterministic disturbances and stochastic noises. Performance of the proposed algorithm is validated by numerical simulations, and comparisons to other predefined-time convergent control laws are provided.
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17:50-18:05, Paper WeC1.7 | |
A Power Tower Control: A New Sliding Mode Control |
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Ghanes, Malek | Centrale Nantes, LS2N |
Barbot, Jean Pierre | CNRS |
Keywords: Higher Order Sliding Mode, First Order Sliding Mode, Lyapunov Methods for Variable Structure Systems & Sliding Mode Control
Abstract: A control based power tower function at order 2 is proposed in this paper. This leads to a new sliding mode control, which allows employing backstepping technique that combines both guaranteed and finite time convergence. The proposed control is applied to a double integrator subject to perturbation d. Both guaranteed and finite convergence are ensured by the controller when d is considered constant and bounded, without knowing its upper bound. For the case, when d is variable and bounded with its upper bound known, only a finite time convergence is obtained. Simulation results are given to show the well founded of the proposed novel control.
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18:05-18:20, Paper WeC1.8 | |
Adaptive Neural Network-Based Higher-Order Sliding Mode Control for Floating Offshore Wind Turbines |
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Didier, Flavie | FEMTO-ST Institute, Univ. Bourgogne Franche-Comté, UTBM, CNRS |
Obeid, Hussein | Sultan Qaboos University |
Chitour, Yacine | Universit'e Paris-Sud, CNRS, Supelec |
Fridman, Leonid M. | National Autonomous University of Mexico |
Laghrouche, Salah | Université De Technologies De Belfort-Montbéliard (UTBM) |
Keywords: Higher Order Sliding Mode, Adaptive Sliding Mode, Lyapunov Methods for Variable Structure Systems & Sliding Mode Control
Abstract: This paper introduces a novel adaptive feedback control approach for disturbed chains of integrators with smooth disturbances with unknown upper bound. The proposed approach combines adaptive neural network with higher-order sliding mode control to achieve the convergence of system states towards a vicinity of the origin. Notably, this approach does not rely on any prior information about the disturbance. The adaptive neural network term compensates the disturbance with an error, while the higher-order sliding mode control term effectively addresses this error and ensures the stabilization of the system state. Compared with existing neural network-based sliding mode control approaches, our proposed method does not require reducing the system order and utilizes only two terms for control. These characteristics contribute to its simplicity and lead to improved closed-loop performance. The effectiveness of the adaptive feedback control is specifically assessed for semi-submersible floating offshore wind turbines operating above rated speed. Simulation results demonstrate superior performance in rotor speed regulation and platform pitch reduction compared to the gain-scheduling proportional integral controller.
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