Variable structure control method for discrete-time system

2008 ◽  
Author(s):  
Li Zhongjuan ◽  
Zhang Xinzheng
Keyword(s):  
Discrete Time ◽  
Control Method ◽  
Variable Structure Control ◽  
Variable Structure ◽  
Discrete Time System ◽  
Time System ◽  
Structure Control

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.

scholarly journals Dynamical Analysis of a New Chaotic Fractional Discrete-Time System and Its Control

Entropy ◽  
2020 ◽  
Vol 22 (12) ◽  
pp. 1344
Author(s):  
A. Othman Almatroud ◽  
Amina-Aicha Khennaoui ◽  
Adel Ouannas ◽  
Giuseppe Grassi ◽  
M. Mossa Al-sawalha ◽  
...  
Keyword(s):  
Discrete Time ◽  
Software Package ◽  
Control Method ◽  
Approximate Entropy ◽  
Dynamical Analysis ◽  
Largest Lyapunov Exponent ◽  
Bifurcation Diagrams ◽  
Discrete Time System ◽  
Time System ◽  
Quadratic Nonlinearities

This article proposes a new fractional-order discrete-time chaotic system, without equilibria, included two quadratic nonlinearities terms. The dynamics of this system were experimentally investigated via bifurcation diagrams and largest Lyapunov exponent. Besides, some chaotic tests such as the 0–1 test and approximate entropy (ApEn) were included to detect the performance of our numerical results. Furthermore, a valid control method of stabilization is introduced to regulate the proposed system in such a way as to force all its states to adaptively tend toward the equilibrium point at zero. All theoretical findings in this work have been verified numerically using MATLAB software package.

scholarly journals A Local Controller for Discrete-Time Large-Scale System by Using Integral Variable Structure Control

2015 ◽  
Vol 2015 ◽  
pp. 1-10
Author(s):  
C. H. Chai ◽  
Johari H. S. Osman
Keyword(s):  
Discrete Time ◽  
Large Scale ◽  
Variable Structure Control ◽  
Variable Structure ◽  
System Stability ◽  
Large Scale System ◽  
Structure Control ◽  
Time Integral ◽  
Unmatched Uncertainty ◽  
Local Controller

A new local controller for discrete-time integral variable structure control of a large-scale system with matched and unmatched uncertainty is presented. The local controller is able to bring the large-scale system into stability by using only the states feedback from individual subsystem itself. A new theorem is established and proved that the controller is able to handle the effect of interconnection for the large-scale system with matched and unmatched uncertainty, and the system stability is ensured. The controller is able to control the system to achieve the quasi-sliding surface and remains on it. The results showed a fast convergence to the desired value and the attenuation of disturbance is achieved.

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