NDLI: Adaptive VS/SM controller based on robust fixed point transformations

Content Provider	IEEE Xplore Digital Library
Author	Tar, J.K. Rudas, I.J. Bito, J.F. Tenreiro Machado, J.A. Kozlowski, K.
Copyright Year	2009
Description	Author affiliation: Poznan University of Technology, Poland (Kozlowski, K.) \|\| Institute of Engineering, Porto, Portugal (Tenreiro Machado, J.A.) \|\| Budapest Tech, Hungary (Tar, J.K.; Rudas, I.J.; Bito, J.F.)
Abstract	The great advantage of the Variable Structure - Sliding Mode controllers is their simplicity, and that they can efficiently work in the possession of a very rough model of the system to be controlled. Instead investing any effort into identifying the precise analytical model of this system they apply well timed bang-bang type control signals in order to drive the “error metrics” near zero during finite time. The effects of modeling errors and unknown external perturbations are compensated by the application of great amplitude for this fluctuation often induce chattering that can be obviated by smoothing these signals normally at the cost of degraded precision of trajectory tracking. The recently proposed adaptive control based on robust fixed point transformations drives the system nearby the kinematically arbitrarily prescribed trajectories by the use local basins of attraction in an iterative learning control also abandoning the identification of the precise model of the system. By the combination of these different approaches efficient adaptive VS/SM controller can be developed that more precisely can trace the desired trajectory kinematically prescribed by the usual relaxation of the error metrics. Chattering can be evaded by decreasing the amplitude of the fluctuating control signal without degrading the tracking precision. This statement is substantiated by simulation results obtained for a simple paradigm.
Starting Page	51
Ending Page	55
File Size	449192
Page Count	5
File Format	PDF
ISBN	9781424441112
DOI	10.1109/INES.2009.4924737
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-04-16
Publisher Place	Barbados
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Programmable control Adaptive control Samarium Robust control Sliding mode control Degradation Control system synthesis Analytical models Signal processing Fluctuations
Content Type	Text
Resource Type	Article

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