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 136 for “"sliding mode"”.
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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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Sliding Mode Controller Design for ABS System
… vehicles. In this thesis, a new mathematical model for electromagnetic brakes is proposed to describe their static characteristics (angular speed versus brake torque). The performance of the new mathematical model is better than the other three models available in the literature in a …
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Nonlinear Sliding Mode Observer Applied to Microalgae Growth
<p>Modeling biological processes, such as algae growth, is an area of ongoing research. The ability to understand the multitude of parameters that influence this system provides a platform for better understanding the dynamics of microalgae growth. Empirical modeling efforts look to understand …
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Neural Network Based Sliding Mode Control for Robotic Manipulator
… and an approach to overcome this issue using a sliding mode controller combined with a neural network is proposed. Then, the proposed approach is compared to classical and modern control methods including controllers from the literature to demonstrate the performance of the proposed controller. …
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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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Sliding Mode Observers for Distributed Parameter Systems: Theory and Applications
… velocity, etc. and their partial derivatives to model these phenomena. However, in the case of distributed parameter systems, it is not always possible to have access to the states of the systems due to technical difficulties such as lack of sensors. Therefore, there is the need for state …
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Time-delay systems : stability, sliding mode control and state estimation
… This thesis is concerned with the stability, sliding mode control and state estimation problems of time-delay systems. Throughout the thesis, the Lyapunov-Krasovskii (L-K) method, in conjunction with the Linear Matrix Inequality (LMI) techniques is mainly used for analysis and design. Firstly, …
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Experimental sliding mode control of a flexible single link manipulator
… based on the variable structure system (VSS) and sliding mode theory, and experimentally test them on a flexible robot arm. A new control design method (VSSMC) is firstly proposed based on the continuous time variable structure sliding mode theory. It can significantly simplify the VSS system …
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Decentralized sliding mode control and estimation for large-scale systems
… 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 theory is developed. The main developments proposed in this thesis …
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Terminal sliding mode control for rigid robotic manipulators with uncertain dynamics
… 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 robotic mauipulators and …
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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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Vertical Take-Off and Landing Control via Dual-Quaternions and Sliding Mode
… through one of the most powerful methods of modern control known for its accuracy, robustness, and easy tuning and implementation -- sliding mode control.</p>
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Inversion of input/output map, sliding mode and nonlinear flight control system design
… are applied to a realistic aircraft flight model. The equations of motion are highly nonlinear and the design of a control system for large roll-coupled maneuvers is not a simple task. Analytical derivations of control laws are presented in this thesis for the maneuver of the aircraft using …
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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
… variation. The logic is derived from traditional Sliding Mode Control theory with an expanded boundary layer which allows position deviation from the region center to specified bounds. As an example of the utility of this control, multiple methods of herding (controlling passive agents by …
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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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