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 34 for “"sliding mode controller"”.
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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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Design and full-scale testing of a sliding mode controller for a small underwater vehicle
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1989.
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A Comparison of PID and Sliding Mode Controllers When Applied to the Orbit Raising of a Satellite Using Solar Sail Propulsion
… to solar sails. This thesis will research how a sliding mode controller compares to a PID controller with respect to settling time and state response error over a range of maximum reaction wheel torque values. The actuator saturation and actuator energy are then compared for two different sliding …
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Optimally-robust nonlinear control of a class of robotic underwater vehicles
… nonlinear control method combines sliding mode control with stochastic state and model uncertainty estimation. First a regular form sliding mode control law is developed for the heading and depth control of the RUV class. The Particle Filter algorithm is then modified and applied to …
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Grasped Object Detection for Adaptive Control of a Prosthetic Hand
… and controls. After review of literature, a PID sliding mode position controller and an adaptive PID sliding mode controller are presented for a prosthetic hand. The adaptive controller smoothly modulates the gains based on the detected stiffness of the grasped object. Three main control …
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Robust Observers And Controllers For Marine Surface Vessels Undergoing Maneuvering And Course-Keeping Tasks
… system of the ship should be robust to both modeling imprecision and significant environmental disturbances.</p> <p>The focus of the current work is threefold. First, a six degree-of-freedom nonlinear model for a marine surface vessel is developed. It accounts for the coriolis and centripetal …
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Advanced Braking Systems for Heavy Vehicles
… optimises slip during braking. Mathematical models were made of the pneumatics and dynamics of a heavy vehicle brake that featured a high-speed actuator placed directly on the brake chamber. The results were used to inform the specifications for a second generation, made-for-purpose actuator. …
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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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Modeling and control of smart structures embedded with magnetorheological devices
… that may affect structural health or function. Modeling and control techniques can be applied to resiliently preserve structural health and function with a low energy cost, which is the main theme of the thesis. Smart structures embedded with semi-active control devices offer a promising …
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An attitude determination and control system for small satellites
… for attitude determination and a slew rate controller that acquires a view of the Sun for navigation purposes. A pointing system is developed that includes a choice of two pointing controllers -- a proportional derivative controller and a nonlinear sliding mode controller. This system can …
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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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Efficient control based on a verified model for an autonomous underwater vehicle : a case study of Autonomous Benthic Explorer
… the vehicle is controlled. An accurate system model is critical for the controller development and trajectory planning. A model of the ABE vehicle dynamics is formulated for surge, heave and pitch motions. These motions in the lon,gitudinal plane are particularly important for the basic ABE …
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Robust Model-Based Control of Nonlinear Systems for Bio-Inspired Autonomous Underwater Vehicles
… condition. Another important aspect is to have a controller design technique that can address the time-varying behaviors, structured uncertainties and system nonlinearities. To address these needs a robust, model-based, nonlinear controller design technique is presented, called digital sliding …
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Regulating Traffic Flow and Speed on Large Networks: Control and Geographical Self Organizing Map (Geo-SOM) Clustering
… sensitivity to parameter tuning and the need for model linearization. A weather-tuned perimeter control (WTPC) and a jam density-tuned perimeter controller (JTPC) were developed to cope with parameter sensitivity for different weather conditions and jam densities, respectively. In an attempt to …
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Developing and Evaluating New Methods for Assessing Postural Control and Dynamics
… of joint coordination, the underlying postural controller, and efficient methods to assess passive and active musculoskeletal properties relevant to balance. In the current work, three new methods were developed to address these limitations and also to better understand the effects of localized …
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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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Co-simulation of algebraically coupled dynamic subsystems
… Bridge between thoughts is weak. Object-oriented modeling is an effective tool for modeling of complex coupled systems. However, subsystem models have to be assembled and compiled before they can produce simulation results for the coupled system. Compiling models into simulations? is time …
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Controle por modos deslizantes aplicado a um conversor boost intercalado bidirecional de três células
… 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 system design methodology, both applied to the interleaved boost converter. The …
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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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Automatic Ultrasonic Headway Control for a Scaled Robotic Car
… purpose of this research was to develop a scale model platform for the rapid prototyping and testing of ITS systems and technologies. Specifically, this body of work was concerned with the development of an automatic headway control system that utilized ultrasonic sensors. This control system was …
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