Research on Multivariable Model Reference Variable Structure Control

2013 ◽  
Vol 281 ◽  
pp. 121-126
Author(s):  
Xu Jiang ◽  
Zhi Tao Feng
Keyword(s):  
Tracking Error ◽  
Variable Structure Control ◽  
Full Rank ◽  
Variable Structure ◽  
Model Reference ◽  
Structure Control ◽  
Model Reference Control ◽  
Control Scheme ◽  
Dominant Matrix ◽  
Uniformly Bounded

This paper studies the output-feedback variable structure control for MIMO (multi-input multi-output) linear systems with generalized relative degree one. A new variable structure control scheme is proposed within the framework of model reference control. Under the assumption that the high frequency gain matrix of the plant can be transformed to a main diagonal dominant matrix via full rank transformation, it is shown that all signals of the closed-loop system are globally uniformly bounded and meanwhile, the tracking error converges to zero exponentially. Simulation results are presented to illustrate the effectiveness of the proposed scheme.

Tracking Design of an Omni-Direction Autonomous Ground Vehicle by Hierarchical Enhancement Using Fuzzy Second-Order Variable Structure Control

2018 ◽  
Vol 140 (9) ◽  
Author(s):  
Chih-Lyang Hwang ◽  
Yunta Lee
Keyword(s):  
Tracking Error ◽  
Variable Structure Control ◽  
Variable Structure ◽  
Second Order ◽  
Hierarchical Architecture ◽  
Switching Surface ◽  
Ground Vehicle ◽  
Structure Control ◽  
Linear Dynamic ◽  
Order Variable

Owing to the hierarchical architecture of the derived model of the omni-direction autonomous ground vehicle (OD-AGV), the virtual desired trajectory (VDT) is first designed by the first switching surface, which is set as the linear dynamic pose error of the OD-AGV. In sequence, the trajectory tracking control (TTC) is designed by the second switching surface, which is the linear dynamic tracking error of the VDT. To deal with nonlinear time-varying uncertainties including system disturbance and different ground conditions, enhanced fuzzy second-order variable structure control (EF2VSC) is designed into both VDT and TTC. Finally, the experiments for tracking the circular trajectories with different curvatures, traveling velocities, and poses of the OD-AGV are presented to validate the effectiveness and robustness of the proposed hierarchical enhancement using fuzzy second-order variable structure control (HEF2VSC).

A Learning Variable Structure Controller of a Flexible One-Link Manipulator

2000 ◽  
Vol 122 (4) ◽  
pp. 624-631 ◽  
Author(s):  
Wen-Jun Cao ◽  
Jian-Xin Xu
Keyword(s):  
Reference Model ◽  
Tracking Error ◽  
Variable Structure ◽  
Fourier Series Expansion ◽  
Learning Mechanism ◽  
Structure Control ◽  
Almost Everywhere ◽  
Better Regulation ◽  
Equivalent Control ◽  
Uniformly Bounded

In this paper, tip regulation of a flexible one-link manipulator by Learning Variable Structure Control (LVSC) is investigated. Switching surface is designed according to a selected reference model which relocates system poles to be negative real ones, hence link vibration is eliminated. The proposed LVSC incorporates a learning mechanism to improve regulation accuracy. Rigorous proof shows: the tracking error sequence converges uniformly to zero; the uniformly bounded learning control sequence converges to the equivalent control almost everywhere. For practical considerations, the learning mechanism is further conducted in frequency domain by means of Fourier series expansion, hence achieves better regulation performance. Numerical simulations confirm the effectiveness and robustness of the proposed approach. [S0022-0434(00)01804-9]

Robust Variable Structure Control for Free-Floating Space Robot System With Dual-Arms in Joints Space

2009 ◽  
Author(s):  
Xiaoteng Tang ◽  
Li Chen
Keyword(s):  
Variable Structure Control ◽  
Variable Structure ◽  
Joint Space ◽  
Space Robot ◽  
Dynamic Equations ◽  
Robot System ◽  
Structure Control ◽  
Floating Base ◽  
Inertial Parameters ◽  
Control Scheme

In this paper, the kinematics and dynamics of free-floating space robot system with dual-arms are analyzed. It is shown that the dynamic equations of the system are nonlinearly according to inertial parameters. In order to overcome these problems, the system is modeled as under-actuated robot system, and the idea of augmentation approach is adopted. It is demonstrated that the dynamic equations of the system can be linearly depending on a group of inertial parameters. Based on this result, a robust variable structure control scheme for free-floating space robot system with dual-arms with uncertain inertial parameters to track the desired trajectories in joint space is proposed, and a planar space robot system with dual-arms is simulated to verify the proposed control scheme. The advantage of the control scheme proposed is that it requires neither measuring the position, velocity and acceleration of the floating base with respect to the orbit nor controlling the position and attitude angle of the floating base. In addition to this advantage, it is computationally simple, because of choosing the controller robust for the uncertain inertial parameters rather than explicitly estimating them online.

scholarly journals Adaptive variable structure control of input delay non-minimum phase hypersonic flight vehicles

2017 ◽  
Vol 14 (1) ◽  
pp. 172988141668561
Author(s):  
Dedong Huang ◽  
Xiaoxiang Hu ◽  
Xunliang Yan
Keyword(s):  
Control Strategy ◽  
Tracking Error ◽  
Variable Structure Control ◽  
Variable Structure ◽  
Input Delay ◽  
Structure Control ◽  
Hypersonic Flight ◽  
Flight Vehicles ◽  
Output Tracking Control ◽  
Tracking Model

An adaptive variable structure control strategy is proposed for the output tracking control of input delay non-minimum hypersonic flight vehicles. The problem is challenging because of the complex nonlinearity of hypersonic flight vehicles and the existence of input delay. The nonlinear model of hypersonic flight vehicles is partially linearized, and a state tracking model is constructed based on the ideal internal dynamics of hypersonic flight vehicles. A filtered tracking error is introduced to handle the input delay. A variable structure control strategy is proposed for the stability of filtered tracking error system, and an adaptive law is established for the unknown perturbations. Finally, the effectiveness of the proposed control method is shown by the simulation results.

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