Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 79 for “"Sliding Mode Control"”.
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Sliding Mode Control with Chattering Reduction
<p>Sliding Mode Control is a powerful nonlinear control methodology that can handle parametric uncertainties and external disturbances. However, the discontinuous and high-frequency switching nature of the control law introduces the chattering phenomenon, which leads to potential actuator …
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Neural Network Based Sliding Mode Control for Robotic Manipulator
… dynamics. This thesis aims to propose a robust control strategy for autonomous robotic manipulation. First, the trajectory tracking problem was introduced and an approach to overcome this issue using a sliding mode controller combined with a neural network is proposed. Then, the proposed …
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Discrete Modeling and Sliding Mode Control of Piezoelectric Actuators
… lead to instability. This raises a great need to model and control PEAs for improved performance, which have drawn remarkable attention in the literature. Sliding mode control (SMC) shows its potential to the control of PEA, by which the hysteresis and other nonlinear effects can be regard as …
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Time-delay systems : stability, sliding mode control and state estimation
… disturbances are unavoidable in many practical control systems such as robotic manipulators, aircraft, manufacturing and process control systems and it is often a source of instability or oscillation. This thesis is concerned with the stability, sliding mode control and state estimation problems …
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Experimental sliding mode control of a flexible single link manipulator
… involved in designing and implementing a good controller to achieve the desired performance. Though a wealth of literature has already appeared on this subject, the number of controller design schemes presented has been small. Still fewer are the experimental verifications which are essential …
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Decentralized sliding mode control and estimation for large-scale systems
… of an approach of decentralised robust control and estimation for large scale systems (LSSs) using robust sliding mode control (SMC) and sliding mode observers (SMO) theory based on a linear matrix inequality (LMI) approach. A complete theory of decentralized first order sliding mode …
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Terminal sliding mode control for rigid robotic manipulators with uncertain dynamics
This thesis presents two new adaptive control laws that use the terminal sliding mode technique for the tracking problem of rigid robotic manipulators with non-linearities, dynamic couplings and uncertain parameters. The first law provides a robust scheme which uses several properties of rigid …
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Some issues in the sliding mode control of rigid robotic manipulators
… investigates the problem of robust adaptive sliding mode control for nonlinear rigid robotic manipulators. A number of robustness and convergence results are presented for sliding mode control of robotic manipulators with bounded unknown disturbances, nonlinearities, dynamical couplings and …
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An Application of Sliding Mode Control to Model-Based Reinforcement Learning
<p>The state-of-art model-free reinforcement learning algorithms can generate admissible controls for complicated systems with no prior knowledge of the system dynamics, so long as sufficient (oftentimes millions) of samples are available from the environ- ment. On the other hand, model-based …
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On data-driven modelling and terminal sliding mode control of dynamic systems with applications
This thesis addresses critical issues in system modelling and control with some applications to robotics and automation. The main content is divided into three parts, namely data-driven identification, fast terminal sliding mode control alongside underactuated crane control, and robotic pointing …
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Robust Region Tracking in Multi-Agent Systems Utilizing Sliding Mode Control: Theory and Applications
<p>This thesis presents a methodology to bring controlled agents within a moving region despite agent interaction dynamics, uncertain forces and parameter variation. The logic is derived from traditional Sliding Mode Control theory with an expanded boundary layer which allows position deviation …
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First Order Dynamic Sliding Mode Control of a Wind Turbine with Optimized Tip Speed Ratio
This thesis explores a novel sliding mode control method to boost power from wind turbines, focusing on the power optimization region. The controller, designed for a 3rd-order system with generator torque input and rotor torque disturbance, is tested using a simple wind turbine model and FAST for …
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Towards improving the Statscan X-ray image quality through sliding mode control of the C-arm
… driven by a permanent magnet linear motor (PMLM) controlled by a cascaded proportional-proportional integral controller (P-PI). Transient errors in the trapezoidal motion profile of the scanning C-arm may cause mismatches between the detector and the collimated beams from the X-ray source. This …
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Controle por modos deslizantes aplicado a um conversor boost intercalado bidirecional de três células
… to study and design converters, as well as control techniques aimed at regulating them. This work proposes the mathematical modeling of the three-cell bidirectional interleaved boost converter, a continuous and discretized classical control system design, as well as a sliding mode control …
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Robust Image-Based Visual Servo Control of an Uncertain Missile Airframe
… for a missile-target scenario in the presence of model uncertainty and unknown target evasive maneuvers. To ease the readability of this thesis, detailed explanations of any relevant mathematical tools are provided, including stability definitions, the procedure of Lyapunov-based stability …
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Robust de-centralized control and estimation for inter-connected systems
… with the theoretical development of the control of inter-connected systems to achieve the whole overall stability and specific performance. A special included feature is the Fault-Tolerant Control (FTC) problem for the inter-connected system in terms of local subsystem actuator fault …
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Observation and control of PDE with disturbances
In this Thesis, the problem of controlling and Observing some classes of distributed parameter systems is addressed. The particularity of this work is to consider partial differential equations (PDE) under the effect of external unknown disturbances. We consider generalized forms of two popular …
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