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sliding-mode-control
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Chaos control in continuous mode of T-AFM systems using nonlinear delayed feedback via sliding mode control
, Article ASME International Mechanical Engineering Congress and Exposition, Proceedings ; Volume 11 PART A , 2008 , Pages 201-208 ; ISBN: 079184305X ; Salaried, H ; Alasty, A ; Sharif University of Technology
Abstract
The taping mode Atomic Force Microscopic (T-AFM) can be assumed as a cantilever beam which its base is excited by a sinusoidal force and nonlinear potential interaction with sample. Thus the cantilever may cause chaotic behavior which decreases the performance of the sample topography. In order to modeling, using the galerkin method, the PDE equation is reduced to a single ODE equation which properly describing the continuous beam. In this paper a nonlinear delayed feedback control.is proposed to control.chaos in T-AFM system. Assuming model parameters uncertainties, the first order Unstable Periodic Orbits (UPOs) of the system is stabilized using the sliding nonlinear delayed feedback...
Fuzzy adaptive sliding mode control for a class of uncertain nonlinear MIMO systems with application to a 2DOF twin propeller
, Article Lecture Notes in Artificial Intelligence (Subseries of Lecture Notes in Computer Science) ; Vol. 2715 , 2003 , Pages 500-507 ; ISSN: 03029743 ; Bolandhemat, H ; Tehrani, N.D ; Sharif University of Technology
Abstract
A practical design method is presented which used the fuzzy logic advantages in adaptation of sliding mode control. The combined Fuzzy Adaptive Sliding Control (FASC) is designed in such a way to enhance satisfactory sliding performance and robustness with good level of chattering alleviation. The design approach is valid for a class of nonlinear uncertain MIMO systems. This control algorithm does not require the system model. A supervisory term is appended to the controller to assure the stability of fuzzy sliding mode control through Lyapunov theory. The design approach has been applied to a 2DOF twin propeler system with large uncertainty. Simulation results verified effectiveness of...
Parameter estimation and interval type-2 fuzzy sliding mode control of a z-axis MEMS gyroscope
, Article ISA Transactions ; Vol. 52, Issue 6 , 2013 , pp. 900-911 ; Pedram, M. Z ; Salarieh, H ; Alasty, A ; Sharif University of Technology
Abstract
This paper reports a hybrid intelligent controller for application in single axis MEMS vibratory gyroscopes. First, unknown parameters of a micro gyroscope including unknown time varying angular velocity are estimated online via normalized continuous time least mean squares algorithm. Then, an additional interval type-2 fuzzy sliding mode control is incorporated in order to match the resonant frequencies and to compensate for undesired mechanical couplings. The main advantage of this control strategy is its robustness to parameters uncertainty, external disturbance and measurement noise. Consistent estimation of parameters is guaranteed and stability of the closed-loop system is proved via...
Using sliding mode control to adjust drum level of a boiler unit with time varying parameters
, Article ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis ; Vol. 5 , 2010 , pp. 29-33 ; ISBN: 9780791849194 ; Bakhtiari-Nejad, F ; Saffar-Avval, M ; Alasty, A ; Sharif University of Technology
Abstract
Stable control of water level of drum is of great importance for economic operation of power plant steam generator systems. In this paper, a linear model of the boiler unit with time varying parameters is used for simulation. Two transfer functions between drum water level (output variable) and feed-water and steam mass rates (input variables) are considered. Variation of model parameters may be arisen from disturbances affecting water level of drum, model uncertainties and parameter mismatch due to the variant operating conditions. To achieve a perfect tracking of the desired drum water level, two sliding mode controllers are designed separately. Results show that the designed controllers...
Optimal sliding mode control of AFM tip vibration and position during manipulation of a nanoparticle
, Article ASME International Mechanical Engineering Congress and Exposition, Proceedings ; Vol. 12, Issue. PART A , 2010 , pp. 205-214 ; ISBN: 9780791843857 ; Khorsand, M ; Meghdari, A ; Alasty, A ; Sharif University of Technology
Abstract
This research regards to a two-dimensional lateral pushing nanomanipulation using Atomic Force Microscope (AFM). Yet a reliable control of the AFM tip position during the AFM-based manipulation process is a chief issue since the tip can jump over the target nanoparticle and then the process can fail. However, a detailed Modeling and understanding of the interaction forces on the AFM tip is important for prosperous manipulation control and a nanometer resolution tip positioning. In the proposed model, Lund-Grenoble (LuGre) dynamic friction model is used as friction force on the contact surface between the nanoparticle and the substrate. This model leads to a stick-slip behavior of the...
Variable structure controller design for steer-by-wire system of a passenger car
, Article Journal of Mechanical Science and Technology ; Vol. 28, issue. 8 , Aug , 2014 , p. 3285-3299 ; Kazemi, R ; Sharif University of Technology
Abstract
The electric power steering (EPS) system was developed and the steer-by-wire (SBW) system achieves the purposes of EPS. The advantages of SBW are packaging flexibility, advanced vehicle control system, and superior performance. No mechanical linkage exists between the steering gear and steering column in the SBW system. The steering wheel and front-wheel steering can be controlled independently. The SBW system consists of two motors controlled by an electronic control unit (ECU). One motor is in the steering wheel and develops the steering feel of the driver and the other motor is in the steering linkage and improves vehicle maneuverability and stability. Moreover, the active front steering...
Continuous ant colony filter applied to online estimation and compensation of ground effect in automatic landing of quadrotor
, Article Engineering Applications of Artificial Intelligence ; Vol. 32, issue , June , 2014 , p. 100-111 ; Sharifi, A. R ; Sharif University of Technology
Abstract
The automatic landing of a quadrotor is often associated with model uncertainties, measurement noises, and ground effect phenomenon. To mitigate these challenges, the accurate estimation of states especially the height above the ground, and its rate of change is vital. Moreover, the error of ground effect model can also be estimated and compensated during landing. In this paper, the recently developed continuous ant colony filter is implemented for integrated estimation of states and parameters. The estimated states are used in height control loop. To investigate the closed loop performance of the filter, two control strategies, a classical proportional-integral-derivative controller and a...
Parameter estimation and interval type-2 fuzzy sliding mode control of a z-axis MEMS gyroscope
, Article ISA Transactions ; Volume 52, Issue 6 , 2013 , Pages 900-911 ; 00190578 (ISSN) ; Pedram, M. Z ; Salarieh, H ; Alasty, A ; Sharif University of Technology
2013
Abstract
This paper reports a hybrid intelligent controller for application in single axis MEMS vibratory gyroscopes. First, unknown parameters of a micro gyroscope including unknown time varying angular velocity are estimated online via normalized continuous time least mean squares algorithm. Then, an additional interval type-2 fuzzy sliding mode control is incorporated in order to match the resonant frequencies and to compensate for undesired mechanical couplings. The main advantage of this control strategy is its robustness to parameters uncertainty, external disturbance and measurement noise. Consistent estimation of parameters is guaranteed and stability of the closed-loop system is proved via...
Optimal sliding mode control for Atomic Force Microscope tip positioning during nano-manipulation process
, Article Scientia Iranica ; Volume 20, Issue 6 , 2013 , Pages 2285-2296 ; 10263098 (ISSN) ; Mahboobi, S. H ; Vakilzadeh, M. K ; Alasty, A ; Meghdari, A ; Sharif University of Technology
Sharif University of Technology
2013
Abstract
This research presents two-dimensional controlled pushing-based nanomanipulation using an Atomic Force Microscope (AFM). A reliable control of the AFM tip position is crucial to AFM-based manipulation since the tip can jump over the target nanoparticle causing the process to fail. However, detailed modeling and an understanding of the interaction forces on the AFM tip have a central role in this process. In the proposed model, the Lund-Grenoble (LuGre) method is used to model the dynamic friction force between the nanoparticle and the substrate. This model leads to the stick-slip behavior of the nanoparticle, which is in agreement with the experimental behavior at nanoscale. Derjaguin...
Optimal tuning of sliding mode controller parameters using LQR input trend
, Article IS'2012 - 2012 6th IEEE International Conference Intelligent Systems, Proceedings ; 2012 , Pages 297-303 ; 9781467327824 (ISBN) ; Banazadeh, A ; Ahadi, A ; Sharif University of Technology
2012
Abstract
This paper presents a novel method fortuning the parameters of an sliding mode (SM) controller to obtain near-optimal performance. In order to do so the Linear Quadratic Regulator (LQR) was implemented on a linearized system. The input history of the LQR was used as a reference to obtain an optimal space for sliding mode controller parameters. Afterwards, the optimal space boundaries were dedicated to Genetic Algorithm (GA) to search for the optimal parameter for the nonlinear model. Also, the center of the obtained optimal space was used as an initial guess to the Particle Swarm Optimization (PSO) Algorithm. The proposed algorithm was implemented to regulate SM controller for the attitude...
Comments on chaos synchronization of uncertain fractional-order chaotic systems with time delay based on adaptive fuzzy sliding mode control
, Article IEEE Transactions on Fuzzy Systems ; Volume 20, Issue 5 , February , 2012 , Pages 993-995 ; 10636706 (ISSN) ; Sharif University of Technology
2012
Abstract
In this letter, it is shown that some of the equalities that were used in the proof of the main theorem of the paper given by Lin and Lee are not consistent with fractional calculus principles. Simple counterexamples are provided to confirm this point. Moreover, correct versions of equations that were derived in the mentioned theorem are presented. Based on these corrections, the synchronization scheme proposed in the mentioned paper is investigated
Synchronizing two different fractional order hyperchaotic systems using generalized fractional order sliding mode control
, Article Proceedings of 2011 2nd International Conference on Instrumentation Control and Automation, ICA 2011, 15 November 2011 through 17 November 2011, Bandung ; 2011 , Pages 125-129 ; 9781457714603 (ISBN) ; Haeri, M ; Sharif University of Technology
2011
Abstract
Synchronization of two fractional order hyperchaotic systems considering uncertainties and sector nonlinear inputs is investigated in this paper. A new fractional order sliding mode control scheme is proposed to synchronize two different fractional order hyperchaotic systems in the presence of uncertainties, sector nonlinearity in the control inputs. The stability of the error dynamics is proven using Lyapunov stability theorem. Simulation results are provided to verify the feasibility and effectiveness of the proposed synchronizing method
Sliding mode leader following control for autonomous air robots
, Article 2011 IEEE/SICE International Symposium on System Integration, SII 2011, 20 December 2011 through 22 December 2011 ; December , 2011 , Pages 972-977 ; 9781457715235 (ISBN) ; Saghafi, F ; Sharif University of Technology
2011
Abstract
In this paper, we propose a leader following control for autonomous air robots. The separated design strategy with kinematic acceleration commands is used. The location of the robot with respect to the leader is specified by a range and two angles. We obtain the kinematic model of the system represented by the state-space equations. The controller is designed based on the sliding mode control which asymptotically stabilizes the tracking errors in presence of uncertainties and disturbances. In order to implement the leader following controller in the air robots, a control system is introduced which converts the acceleration commands to the actuator commands. Simulations are provided to show...
An optimal approach to synchronize non-identical chaotic circuits: An experimental study
, Article International Journal of Circuit Theory and Applications ; Volume 39, Issue 9 , 2011 , Pages 947-962 ; 00989886 (ISSN) ; Haeri, M ; Sharif University of Technology
Abstract
The control signal magnitude and energy are among the limiting and therefore important factors to be addressed in the practical applications of a synchronization scheme. In this paper, we present an algorithm to find control parameters in an active sliding mode controller in order to reduce the control effort in synchronizing non-identical chaotic systems. We also determine uncertainties bound on the systems dynamics for which the calculated control parameters still guarantee the occurrence of the sliding motion of the error states. The proposed controller was practically applied on an experimental setup, consisting of two chaotic circuits, which resembles Chen and Lu systems behavior....
Stochastic chaos synchronization using Unscented Kalman-Bucy Filter and sliding mode control
, Article Mathematics and Computers in Simulation ; Volume 81, Issue 9 , 2011 , Pages 1770-1784 ; 03784754 (ISSN) ; Salarieh, H ; Behzad, M ; Sharif University of Technology
Abstract
This paper presents an algorithm for synchronizing two different chaotic systems by using a combination of Unscented Kalman-Bucy Filter (UKBF) and sliding mode controller. It is assumed that the drive chaotic system is perturbed by white noise and shows stochastic chaotic behavior. In addition the output of the system does not contain the whole state variables of the system, and it is also affected by some independent white noise. By combining the UKBF and the sliding mode control, a synchronizing control law is proposed. Simulation results show the ability of the proposed method in synchronizing chaotic systems in presence of noise
Adaptive sliding mode control of a piezo-actuated bilateral teleoperated micromanipulation system
, Article Precision Engineering ; Volume 35, Issue 2 , 2011 , Pages 309-317 ; 01416359 (ISSN) ; Ahmadian, M. T ; Vossoughi, G ; Rezaei, S. M ; Zareinejad, M ; Sharif University of Technology
Abstract
Piezoelectric actuators are widely used in micro manipulation applications. However, hysteresis nonlinearity limits the accuracy of these actuators. This paper presents a novel approach for utilizing a piezoelectric nano-stage as the slave manipulator of a teleoperation system based on a sliding mode controller. The Prandtl-Ishlinskii (PI) model is used to model actuator hysteresis in feedforward scheme to cancel out this nonlinearity. The presented approach requires full state and force measurements at both the master and slave sides. Such a system is costly and also difficult to implement. Therefore, sliding mode unknown input observer (UIO) is proposed for full state and force...
Decentralized control of reconfigurable robots using joint-torque sensing
, Article International Conference on Robotics and Mechatronics, ICROM 2015, 7 October 2015 through 9 October 2015 ; 2015 , Pages 581-585 ; 9781467372343 (ISBN) ; Sharif University of Technology
Abstract
In this paper, a decentralized controller for trajectory tracking of modular and reconfigurable robot manipulators is developed. The proposed control scheme uses joint-torque sensory feedback; also sliding mode control is employed to make both position and velocity tracking errors of robot manipulators globally converging to zero. Proposed scheme also guarantees that all signals in closed-loop systems will be bounded. In contrast to some of prior works in this scheme, each controller uses a smooth law to achieve its purposes. In this method, each controller uses only local information for producing control law hence separated controller can be used to control each module of manipulator and...
A Second-Order Sliding Mode Observer for Fault Detection and Isolation of Turbocharged SI Engines
, Article IEEE Transactions on Industrial Electronics ; Volume 62, Issue 12 , June , 2015 , Pages 7795-7803 ; 02780046 (ISSN) ; Vossoughi, G ; Alasty, A ; Sharif University of Technology
Institute of Electrical and Electronics Engineers Inc
2015
Abstract
This paper proposes a novel method for detection and isolation of wastegate (WG) faults in a turbocharged (TC) gasoline engine. This paper starts with a fault effect analysis on the WG faults, including WG stuck open and stuck closed, which is an early step in a detection strategy design. Then, a second-order sliding-mode observer (SOSMO) is proposed to capture the exhaust manifold dynamics. The observer uses experimentally validated engine models to estimate the WG position and a virtual force. The virtual force represents the external disturbances that disrupt the WG operation and enables the proposed SOSMO to estimate the WG position robust to the faults. Using this force, a detection and...
Impedance Control of Flexible Base Moving Manipulators
, Ph.D. Dissertation Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor)
Abstract
In this paper, the general research of impedance control is addressed for a robotic manipulator with a moving flexible base. Impedance control imposes a relation between force and displacement at the contact point with the environment. The concept of impedance control of flexible base moving manipulators (FBMM) is rather new and is being considered. The dynamic of manipulator is decomposed into slow and fast dynamics using singular perturbation method. New sliding mode impedance control method (SMIC), using an element on the end effector is proposed for high precision impedance control of FBMM. The sliding mode impedance control method as a robust impedance control law is derived for the...
Modeling and Control of a Fish Robotic System Using Hardware in the Loop Methodology
, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor)
Abstract
In the present study, an adaptive sliding mode control method was employed to control a fish robotic system using the method of hardware in the loop. Following the introduction of the nonlinear model for the robot, elongated body theory, suggested by Lighthill, was used to analyze fish movements. Lighthill’s theory inspired from slender body theory in aerodynamics scope could be viable to exercise upon the carangiform mode of swimming. By simplifying Lighthill’s equations in planar motion of fish robot, the number of degrees of freedom exceeds the number of the control variables. In view of the fact that the presented model is an under-actuated model, there exist some parametric and...